Commit Graph

510 Commits

Author SHA1 Message Date
Robert Haschke
c80755348c moved python includes to global include folder too
catkin package expects all includes to be in one global location
2018-10-17 01:18:39 +02:00
Robert Haschke
b36d91cc02 import .core by default 2018-10-17 01:18:39 +02:00
janEbert
3c77fd1325 add reference test for properties 2018-10-17 01:18:36 +02:00
Robert Haschke
4ac0b6e2c4 merge fixes 2018-10-16 23:22:10 +02:00
Robert Haschke
4cebd95468 Merge branch master into boost-python 2018-06-03 13:20:02 +02:00
Robert Haschke
d3fdee9095 expose solutions, publish + execute 2018-06-03 13:03:41 +02:00
Robert Haschke
c0a16971f4 remove redundant exposure of smart pointers 2018-06-03 13:03:41 +02:00
Robert Haschke
5e2bff59fc cleanup Property access 2018-06-03 13:03:41 +02:00
Robert Haschke
d5c7bfb07e cleanup 2018-06-03 13:03:41 +02:00
janEbert
e264bddc3e PropertyMap iterator, PropertyMap.update(dict) 2018-06-03 13:03:41 +02:00
janEbert
2345b6c9a6 unit tests for all stages 2018-06-03 13:03:41 +02:00
janEbert
f15cbd7141 overload constructors 2018-06-03 13:03:41 +02:00
janEbert
93c62e833d container wrappers 2018-06-03 13:03:41 +02:00
Robert Haschke
09b9698e7b add ROS unittest 2018-06-03 13:03:41 +02:00
Robert Haschke
56546f190f roscpp_init: provide init_options AnonymousName, NoRosout 2018-06-03 13:03:41 +02:00
janEbert
1f85b00e14 more wrappers, unittest, fixes 2018-06-03 13:03:41 +02:00
Robert Haschke
de9fa8405d register ROS msg types with boost::python's type converters 2018-06-03 13:03:41 +02:00
Robert Haschke
f4ffccdc1f handle std::unique_ptr<Stage>
Class holder needs to be a smart pointer, e.g. std::auto_ptr.
This can be released(), such that ownership can be passed.
Further, derived types need to be declared as implicitly_convertible to base type.
2018-06-03 13:03:41 +02:00
Robert Haschke
47a2a28698 cleanup, unittest for properties 2018-06-03 13:03:41 +02:00
Robert Haschke
ee13295c92 separate .core and .stages modules 2018-06-03 13:03:41 +02:00
Robert Haschke
e615b7c9da local names for python wrapper libs 2018-06-03 13:03:41 +02:00
Robert Haschke
f7ddd43d53 cleanup folder structure 2018-06-03 13:03:41 +02:00
Robert Haschke
135c9c2148 solvers + stages 2018-06-03 13:03:41 +02:00
Robert Haschke
3ef0bd426b Properties 2018-06-03 13:03:41 +02:00
janEbert
226b0b03b4 basic boost::python wrappers 2018-06-03 13:03:41 +02:00
Robert Haschke
3215880b98 Merge branches 'move-to', 'simple-grasp' and 'properties' into master
These branches only work together:
- MoveTo / MoveRelative: common handling of "goal" property
- properties: required changes to allow for multiple inheritance
- generalize SimpleGrasp / GenerateGraspPose
2018-06-03 11:38:50 +02:00
Robert Haschke
2e46082521 remove Container::exposePropertiesOfChild() 2018-06-03 11:36:50 +02:00
Robert Haschke
157caac385 generalize SimpleGrasp / GenerateGraspPose
- move "pregrasp", "grasp" property from SimpleGrasp to GenerateGraspPose
- Container::exposePropertiesOfChild: decouple exposure from inheritance
2018-06-03 11:36:50 +02:00
Robert Haschke
544f574166 MoveRelative: store goal as any type 2018-06-03 09:22:06 +02:00
Robert Haschke
00260d62b5 MoveTo: store goal as any type 2018-06-03 09:22:06 +02:00
Robert Haschke
941dee7fc1 exposeTo: const method 2018-06-03 09:22:06 +02:00
Robert Haschke
abc4c5de50 PropertyMap: allow any type 2018-06-03 09:18:37 +02:00
Robert Haschke
a8431ce661 Container::exposePropertiesOfChild: allow skipping of undefined props 2018-06-03 06:46:12 +02:00
Robert Haschke
0dab499533 Stage: generally allow forwarding of interface properties 2018-06-03 06:46:12 +02:00
Robert Haschke
92296e020f SimpleGrasp(GraspGenerator)
allow any GraspGenerator stage that provides "pregrasp" and "grasp"
postures as well as a target_pose for grasping.
2018-06-03 06:46:12 +02:00
Robert Haschke
beffe27987 improve property debugging 2018-06-03 06:42:11 +02:00
Robert Haschke
cbb2cd69f7 property inheritance: both from PARENT and INTERFACE
- source_id -> source_flags: bits indicating configured paths
- initializers, e.g. fromName(), should throw
- ignore undeclared errors during inheritance
- on undefined error, reset the value to None
- override value only if previously set by lower-priority source
  MANUAL > CURRENT > PARENT > INTERFACE
2018-06-03 06:36:15 +02:00
Robert Haschke
abea2ee82b reuse boost::any's type_index type 2018-06-02 17:46:37 +02:00
Robert Haschke
2e9932cfbc fix: don't report config issues as successful (but empty) solutions 2018-06-02 17:46:28 +02:00
v4hn
381210f43d compatibility with boost 1.54
This is required for ROS indigo on ubuntu 14.04
2018-06-01 15:02:11 +02:00
Michael Görner
5739bf39d9 use correct frame in pick (#52) 2018-06-01 14:55:23 +02:00
v4hn
0091c76208 compute ik: ignore collisions skips early eef check 2018-06-01 11:34:07 +02:00
v4hn
4026661bfe Rewrite and relax approx comparisons
This is more readable.

Adjusting the threshold to 1e-4 is required to allow for tolerances
in potential sampling planner steps in between.
2018-06-01 11:32:29 +02:00
v4hn
bd1edcbde7 add max_solutions param to plan()
For big problems you just don't want *all* solutions
2018-06-01 11:13:44 +02:00
Robert Haschke
ac1ccba883 minor formatting changes (#51) 2018-05-31 18:01:30 +02:00
Robert Haschke
b35aba6e19 validate merged trajectories 2018-05-30 21:23:34 +02:00
Robert Haschke
941e9df737 declare properties "timeout", "marker_ns" for all stages 2018-05-30 21:21:14 +02:00
Robert Haschke
c2dd28abae rework storing of solutions
- solutions_, failures_ as SolutionBaseConstPtrs in StagePrivate
- replace processSolutions() / processFailures() by direct const-access to storage containers
- generic sendForward(), sendBackward(), spawn(), connect() methods in StagePrivate
- reuse StagePrivate's sendForward(), sendBackward(), spawn() in containers

- store created InterfaceStates in StagePrivate::states_
- Interface: ordered<InterfaceState*> (only store pointers)
  allows for common handling of states of valid and failure solutions

- remove additional state+solution storages
- containers: internal->external state mapping as InterfaceState* -> InterfaceState*
2018-05-30 21:02:50 +02:00
v4hn
ae6b86c7d7 remove void line
?
2018-05-30 21:02:19 +02:00
Robert Haschke
5878e8ab6b correctly reset FixedState 2018-05-30 21:02:03 +02:00