v4hn
c8e30a5cac
ur5 demo: remove superfluous std::move's
2017-11-10 19:33:10 +01:00
v4hn
0f49177393
cmake: fix dependencies & includes
...
Partly required to get it to compile with `catkin_make`.
2017-11-10 18:38:01 +01:00
Robert Haschke
18119a7985
cleanup cmake
2017-11-03 19:19:33 +01:00
Robert Haschke
1327e27475
fixup: run unittest in correct ROS context
2017-11-03 19:19:32 +01:00
Robert Haschke
6ba66b51a7
reworked TaskModels
...
- separate RemoteTaskModel / LocalTaskModel, reusing existing storage
- TaskListModel collects several TaskModels
- TaskListModelCache: global singleton,
maintaining TaskListModel of all tasks in system (used by panels)
- create LocalTask from stages available via pluglinlib
2017-11-03 19:16:04 +01:00
Robert Haschke
022e29caa5
merged task_panel + task_solution_display into motion_planning_tasks folder
2017-11-02 09:53:43 +01:00
Robert Haschke
82758abc65
cleanup TaskSolutionDisplay
2017-11-02 09:53:43 +01:00
eirtech
042d33f331
adaptions for TaskSolutionDisplay
2017-11-02 09:53:43 +01:00
Robert Haschke
18cc780407
copied trajectory visualization stuff from moveit
2017-11-02 09:53:43 +01:00
Robert Haschke
8a461af97c
TaskPanel: listen to task_monitoring topic
2017-11-02 09:53:28 +01:00
Robert Haschke
abe61ef9eb
fixup
2017-10-29 01:14:48 +02:00
eirtech
3fa87be8ef
introspection service generators are added
2017-10-29 01:14:48 +02:00
Robert Haschke
f6c3c7b27f
replaced debug.cpp with introspection.cpp
...
providing all services to publish current task state, new solutions, etc.
2017-10-29 01:06:51 +02:00
Robert Haschke
7a1fc21f2e
reworked introspection messages
2017-10-29 01:06:51 +02:00
Robert Haschke
e686f49d3e
publish introspection data
...
- use Repository<T>'s for InterfaceState and SolutionBase to store
mappings from ID to actual T*
- task state only publishes IDs
- services allow to request contents
2017-10-29 01:06:51 +02:00
Robert Haschke
cfe8086f29
introspection message definitions
2017-10-29 01:06:51 +02:00
Robert Haschke
aa37ee7cee
cleanup test/container.cpp
2017-10-29 01:06:51 +02:00
Robert Haschke
9bb566b3fc
fix compiler warnings for -Wall
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- initialization order
- unsigned/signed comparison
- unused variables
- missing override for virtual functions
2017-10-29 01:06:51 +02:00
Robert Haschke
ca99e24742
fixup virtual destructor for Stage, StagePrivate
2017-10-29 01:06:51 +02:00
Robert Haschke
26cf2bc2bb
moved PIMPL_FUNCTIONS(...) into private header
2017-10-21 23:09:59 +02:00
Robert Haschke
9e3b723399
correctly consider constness
2017-10-21 23:09:59 +02:00
Robert Haschke
bc3a077d59
refactor containers
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- basic ParallelContainer
- WrapperBase as ParallelContainer
- move StagePrivate::append() -> SolutionBase::flattenTo()
- move ContainerBasePrivate::onNewSolution() -> ContainerBase::onNewSolution()
- StagePrivate::parent() returns ContainerBase*
fixup! refactor containers
fixup! refactor containers
2017-10-21 23:09:59 +02:00
Robert Haschke
ef1f387f19
fixup! simplified API of SubTask specializations
...
moved isConnected() to PropagateEitherWay
2017-10-21 23:09:59 +02:00
Robert Haschke
8e1dfc6768
typedef SerialContainer::solution_container = std::vector<const SolutionBase*>
2017-10-20 16:40:11 +02:00
Robert Haschke
47e074ce7d
typedef SolutionTrajectory = std::vector<const SubTrajectory*>
2017-10-20 16:40:11 +02:00
Robert Haschke
4b56770d50
Task wraps a container
2017-10-20 16:40:11 +02:00
Robert Haschke
b944450736
Task: allow multiple solution callbacks
2017-10-20 16:40:11 +02:00
Robert Haschke
97bed73a9a
weak_ptrs for prev_ends_ and next_starts_
2017-10-20 16:40:11 +02:00
Robert Haschke
f103341356
separate reset() + init()
...
deducedFlags() -> interfaceFlags()
removed announcedFlags()
2017-10-20 16:40:11 +02:00
Robert Haschke
43bcf99222
init() throws InitStageException
2017-10-20 16:40:11 +02:00
Robert Haschke
68ff79f464
setup SerialContainer interface
2017-10-20 16:40:11 +02:00
Robert Haschke
bc5c76578e
connect and validate chain
2017-10-20 16:40:11 +02:00
Robert Haschke
b967e8231b
publish solutions again
2017-10-20 16:40:11 +02:00
Robert Haschke
6167f728ed
wip
2017-10-20 16:40:11 +02:00
Robert Haschke
f6a40a4a02
fixup! containers
...
accidentally committed sandbox
2017-10-20 16:40:11 +02:00
Robert Haschke
51e4bba212
sendForward(), sendBackward() use InterfaceState for both from and to arguments
2017-10-16 17:19:03 +02:00
Robert Haschke
a7de95932e
moved InterfaceFlag(s) into main scope
2017-10-16 09:24:21 +02:00
Robert Haschke
a32007613e
renamed subtask -> stage
2017-10-16 09:24:21 +02:00
Robert Haschke
3cc112fe2c
cleanup container
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- removed friends + mutable
- simplified SerialContainer::canInsert()
2017-10-16 09:22:16 +02:00
Robert Haschke
dc9f553ab0
replaced IMPL macro
2017-10-16 09:22:16 +02:00
Robert Haschke
1b1a82f7c8
simplified SubTask API
...
- moved interface flags to private implementation
- moved newInputState() / newOutputState to private implementation
- directly implement sendBackward()/sendForward()
- removed scene_, planner_ from SubTaskPrivate
... replaced by init(scene) call
- renamings
- array_type -> container_type
- ...AnyWay -> ...EitherWay
- input -> start
- output -> end
2017-10-11 23:34:49 +02:00
Robert Haschke
c085534ea9
simplified API of SubTask specializations
...
- allow bidirectional Gripper
- implemented canInsert()
2017-10-11 22:43:55 +02:00
Robert Haschke
2bf66dc125
fancy print output based on interfaceFlags()
2017-10-04 00:11:22 +02:00
Robert Haschke
ce7d570459
pimpl_func() only in SubTask class
2017-10-04 00:11:22 +02:00
Robert Haschke
11b6dd2efd
implement children_ as std::list
...
This provides a double-linked list already.
Now need to manually track predeccessors and successors.
2017-10-04 00:11:22 +02:00
Robert Haschke
bb06eda33c
containers
...
- allow hierarchical organization of stages (serially for now)
- validate correctness of tree (at composition time, i.e. runtime)
- derive Task from SerialContainer
- fix pimpl_func(), PRIVATE_CLASS declaration in "public" section to allow access in tests
2017-10-04 00:11:22 +02:00
Robert Haschke
6a1eacb315
make headers visible in qtcreator
2017-09-30 22:10:51 +02:00
Robert Haschke
fcccbae408
specialised SubTask classes
...
SubTask cannot be instantiated directly, but only its derived classes
that specify the type of operation:
PropagatingAnyWay
PropagatingForward
PropagatingBackward
Connecting
Generator
2017-09-30 22:10:51 +02:00
Robert Haschke
f7fe7fc896
use namespace definitions
2017-09-30 21:44:57 +02:00
Michael Görner
bb1fcad44e
Merge pull request #4 from ubi-agni/fix
...
fix for-loop argument types
2017-09-29 14:39:10 -07:00