Commit Graph

1235 Commits

Author SHA1 Message Date
Robert Haschke
c9ba6918c8 GHA: Build and deploy documentation 2022-11-27 01:19:56 +01:00
Robert Haschke
54e766f139 Link presentation talks in README 2022-11-25 02:14:03 +01:00
Robert Haschke
954089eae4 Merge PR #99: Python API
... based on pybind11
2022-11-22 21:24:17 +01:00
Robert Haschke
c1df1fbee8 [Container|Task]::add(...) for sequence (python) 2022-11-22 21:22:29 +01:00
Robert Haschke
42835380bf Check for moveit::core::MoveItErrorCode::toString 2022-11-19 10:40:09 +01:00
Robert Haschke
e4c4224aa0 Fix syntax error 2022-11-18 12:59:10 +01:00
Robert Haschke
164ce4eab8 clang-tidy: fix variable/method naming 2022-11-03 18:30:21 +01:00
Robert Haschke
4f74af8fb7 Show clang-tidy results 2022-11-03 17:31:17 +01:00
Robert Haschke
1f1a4eb142 Revert "Disable identifier naming checks"
This reverts commit 38cc5613c0.
2022-11-03 17:12:32 +01:00
Robert Haschke
38cc5613c0 Disable identifier naming checks 2022-11-02 18:44:38 +01:00
Robert Haschke
f0a5785074 Disable clang-tidy checks generating false positives 2022-11-02 18:44:38 +01:00
Robert Haschke
7d5f9fe6e3 Fix clang-tidy warnings 2022-11-02 18:44:38 +01:00
Robert Haschke
7ff2f70b66 CI: make clang-tidy checks pedantic 2022-11-02 08:13:28 +01:00
Robert Haschke
f88e25fe74 Merge PR #380: Fix Cartesian interpolation
Correctly consider an offset transform from link to reference frame,
such that rotations w.r.t. the reference frame don't move its origin.
2022-11-01 23:51:53 +01:00
Robert Haschke
0c9524930a CI: stricter warnings 2022-11-01 23:41:17 +01:00
Robert Haschke
d66b2262ed Rename variables in visualizePlan()
- link_pose -> start_pose
- pos_link -> pos_start
2022-10-31 19:53:07 +01:00
Robert Haschke
32d3454c1f Fix getRobotTipForFrame()
When passing the root frame, getRigidlyConnectedParentLinkModel() returns
a nullptr for robot_link, causing a segfault.
Actually, we don't need to use that method at all. We just need to find
the robot_link of an associated body.
2022-10-31 19:53:07 +01:00
Robert Haschke
fd123cc4a7 Fix handling of ik_frame in Cartesian path planning
The ik_frame should move in a straight-line Cartesian path.
However, so far the link frame was following a Cartesian path.
2022-10-31 19:53:07 +01:00
Robert Haschke
ec366b26ee MoveRelative: Correctly compute motion transform
The twist motion performs an angular rotation about the given axis _and_
the origin of ik_frame as well as a linear translation.
Both transforms are expressed w.r.t. the model frame and thus require
left-multiplication to ik_frame's current pose.
2022-10-31 19:53:07 +01:00
Robert Haschke
076957d4dc Simplify MoveRelative 2022-10-31 19:53:07 +01:00
Robert Haschke
402d6a4bfe Improve unittest for move_relative 2022-10-31 19:53:07 +01:00
Robert Haschke
64a8df1fde Merge CI fixes/improvements 2022-10-24 10:21:34 +02:00
Robert Haschke
b69366456d Fix TaskListModelTest.deletion: run required Qt event loop 2022-10-24 10:21:28 +02:00
Robert Haschke
4c9b16511b Hopefully fix spurious test failure 2022-10-24 10:21:28 +02:00
v4hn
c60cd6c86f Avoid unused-parameter warnings 2022-10-24 10:21:28 +02:00
Robert Haschke
5a30f8a8a7 Suppress unused-function warning 2022-10-24 10:08:26 +02:00
v4hn
2b2689e8d7 Use catkin_INCLUDE_DIRS as system includes
... to suppress warnings outside the code base
2022-10-24 10:07:38 +02:00
Robert Haschke
c0cd6dcd01 Update GHA versions 2022-10-24 10:07:38 +02:00
Robert Haschke
b5f5c1fef8 Limit strict compiler warnings to target workspace 2022-10-24 10:07:38 +02:00
Robert Haschke
987c1485a6 Implicitly use clang in clang-tidy builds 2022-10-23 22:16:58 +02:00
Robert Haschke
28fb974adb Remove MoveIt compatibility code 2022-10-23 22:16:58 +02:00
Robert Haschke
f6b925c2fe Drop support for MoveIt's melodic-devel branch 2022-10-23 22:16:58 +02:00
v4hn
6df359ed3b Do not dictate C++ standard
C++14 is default in clang/gcc anyway and latest log4cxx requires C++17.
Qt on Ubuntu 18.04 sets C++11. Hence we use MoveIt's cmake macro to ensure C++14 at least.
2022-10-23 22:15:23 +02:00
Robert Haschke
268fee9ac1 fixup! demo: add example cartesian.py 2022-08-28 11:17:23 +02:00
Niklas Fiedler
30512bcbb4
Report 1st collision pair for invalid IK solutions (#376) 2022-07-22 13:38:05 +02:00
Jafar
e923fbc0c6
Fix Task's move constructor (#371)
* Add unit test
* Fix TaskPrivate's move assignment operator
* Slightly simplify code

Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
2022-06-14 22:13:19 +02:00
Wyatt Rees
60229db010
Add KinematicsQueryOptions property in CartesianPath solver (#370) 2022-06-03 19:39:51 +03:00
Robert Haschke
d2918f130d
Pruning: Relax too strong assertion: PRUNED => !ARMED (#340) 2022-05-08 11:56:17 +02:00
Robert Haschke
9026ac8746
Make TimeParamerization configurable (#339) 2022-05-08 11:54:05 +02:00
Stephanie Eng
8beb0f4243
Update black version (#348) 2022-03-29 18:59:20 +03:00
Christian Petersmeier
e57d198dd7 Use verbose delimiters for source code instead of line numbers 2022-03-10 13:46:01 +01:00
Robert Haschke
813d9a7de7 Simplify file names, move tutorials into subfolder 2022-03-10 13:33:10 +01:00
Christian Petersmeier
d45f9faf63 Add example script: properties 2022-03-10 13:33:10 +01:00
Christian Petersmeier
60bc5262f5 PickPlace tutorial, stage extension howto guide 2022-03-10 13:33:10 +01:00
Christian Petersmeier
13128390b6 add cartesian and first steps tutorials 2022-03-10 13:33:10 +01:00
Christian Petersmeier
f082fb772b Add property tutorial, restructure tutorial files 2022-03-10 13:33:10 +01:00
Christian Petersmeier
1f330bed89 Reformat Documentation
- create tutorial, how-to-guide, topic and reference chapters
  - move implementation examples from api documentation into
    how-to-guides
  - create a documentation overview on the first page
2022-03-10 13:33:10 +01:00
Robert Haschke
940a843f05 Rework stages doc 2022-03-10 13:33:06 +01:00
Robert Haschke
096c671887 Pruning: Relax too strong assertion: PRUNED => !ARMED
If two Connect stages are sequenced, both sides can become ARMED.
However, that means that the wave of PRUNED status updates, shouldn't
overwrite a present ARMED state.
Added unit test.
2022-03-04 15:01:19 +01:00
Robert Haschke
8d7225d3b6 Connect: better document suppressing recursive loop 2022-03-04 15:01:19 +01:00