Robert Haschke
c9ba6918c8
GHA: Build and deploy documentation
2022-11-27 01:19:56 +01:00
Robert Haschke
954089eae4
Merge PR #99 : Python API
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... 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
164ce4eab8
clang-tidy: fix variable/method naming
2022-11-03 18:30:21 +01:00
Robert Haschke
7d5f9fe6e3
Fix clang-tidy warnings
2022-11-02 18:44:38 +01:00
Robert Haschke
f88e25fe74
Merge PR #380 : Fix Cartesian interpolation
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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()
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- link_pose -> start_pose
- pos_link -> pos_start
2022-10-31 19:53:07 +01:00
Robert Haschke
32d3454c1f
Fix getRobotTipForFrame()
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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
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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
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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
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
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... to suppress warnings outside the code base
2022-10-24 10:07:38 +02:00
Robert Haschke
28fb974adb
Remove MoveIt compatibility code
2022-10-23 22:16:58 +02:00
v4hn
6df359ed3b
Do not dictate C++ standard
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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
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 )
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* 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
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
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
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- 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
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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
v4hn
6d104e837e
polish: FixedState supports collision checking
2022-03-04 14:41:00 +01:00
v4hn
0a3dd3a314
properly set comment markAsFailure without prior comment
2022-03-04 14:39:53 +01:00
Robert Haschke
5310f9063a
operator<< for Interface::Direction
2022-03-04 13:13:01 +01:00
Robert Haschke
ee7cec2aab
FixedState: ignore_collisions=false
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Check collisions for FixedState's scene and report failure if needed.
Optionally, disable the check via the property ignore_collisions=true.
2022-03-03 17:01:34 +01:00
Robert Haschke
6ffc508225
Finetune solvers documentation
2022-03-03 10:50:30 +01:00
Robert Haschke
e77fa83a42
Rework core documentation
2022-03-03 10:50:30 +01:00
Christian Petersmeier
9103af2704
Rework python documentation
2022-03-03 10:50:30 +01:00
Robert Haschke
95f24747b0
Pick+Place: Correctly configure forwarding of "pregrasp" property
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... from Grasp to UnGrasp stage
2022-03-03 10:50:30 +01:00
Robert Haschke
d90b566b08
GeneratePlacePose: Remove property "ik_frame" from stage
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- Instead, set ik_frame property on solution from passed object (frame).
- Allow subframes to be used as "object" frames
2022-03-03 10:50:30 +01:00
Robert Haschke
ca38d11303
Enable InterfaceState's copy operator
2022-02-02 20:51:58 +01:00
Robert Haschke
4b9e85395d
Fix pre-commit: python formatting
2022-01-07 16:20:42 +01:00
Robert Haschke
b28290c5b9
Rework doc for properties.cpp
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- Use simple description strings
Only for multi-line doc strings, use C++11 raw string syntax `R"(...)"`
- Auto-generate signature
- Name arguments via `py::arg()`
2022-01-07 16:20:42 +01:00
Robert Haschke
11686468ad
Update rosdoc + sphinx config
2022-01-07 16:20:42 +01:00
Robert Haschke
cfcc7ba112
Improve top-level descriptions
2022-01-07 16:20:42 +01:00
Robert Haschke
603e337c77
fix typo
2022-01-07 16:20:42 +01:00
Robert Haschke
d732bfe3eb
Fix demo/scripts/fixed_state.py
2022-01-07 16:20:42 +01:00