v4hn
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07b1a72030
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add planning pipeline to task and subtasks
This allows to plan in the subtasks without ROS communication
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2017-03-05 13:06:16 +01:00 |
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v4hn
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0a6b3181be
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plan_pick: reduce number of possible approaches
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2017-03-04 17:06:05 +01:00 |
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v4hn
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7910e23adb
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remove hardcoded name of robot model in trajectory
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2017-03-04 17:01:54 +01:00 |
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v4hn
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42b78eb8c5
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don't reprint state at end of plan_pick
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2017-03-04 17:00:02 +01:00 |
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v4hn
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86c908861d
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cartesian_position_motion: refactored
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2017-03-04 16:59:24 +01:00 |
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v4hn
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2962ba65d9
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cartesian_position_motion: state is valid if *not* colliding
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2017-03-04 16:56:15 +01:00 |
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v4hn
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70145aae29
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draft implementation of cartesian_position_motion - one way only for the moment
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2017-03-04 00:08:52 +01:00 |
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v4hn
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31c88bb9d6
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generate grasps: add GripperGraspPose
Otherwise this always uses the current gripper state.
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2017-03-03 12:17:57 +01:00 |
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v4hn
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d1def8235c
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add generate grasp pose to plan_pick
This doesn't make much sense, but it's nice to see
the structure does not directly fall apart :)
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2017-03-02 20:33:01 +01:00 |
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v4hn
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30961436f1
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subtask: add has* functions to facilitate canCompute
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2017-03-02 19:35:31 +01:00 |
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v4hn
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9c5c87fc58
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generate_grasp_pose: add grasp offset
This (as probably known from many other implementations...) allows
to grasp the object with the end effector link being further away from it.
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2017-03-02 19:23:56 +01:00 |
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v4hn
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42fb4c147b
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gengrasppose: produce better output
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2017-03-02 17:41:28 +01:00 |
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v4hn
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a346b64e35
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test_plan_gen_grasp_pose: clean exit
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2017-03-02 17:36:19 +01:00 |
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v4hn
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a2ce5909a1
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task: abort if nothing could compute
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2017-03-02 17:35:31 +01:00 |
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v4hn
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f247901623
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generate grasp pose: store colliding states as infeasible solutions
This way there is no need to do collision checking for this solution again
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2017-03-02 17:24:21 +01:00 |
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v4hn
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c3c6d899cb
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fix implicit copy
It seems (not verified) the vector is copied here by bind.
Instead, let's pass a pointer.
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2017-03-02 17:23:13 +01:00 |
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v4hn
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798f9c0839
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add angle delta for generate grasp poses
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2017-03-02 17:21:36 +01:00 |
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v4hn
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19c351b27d
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generate grasp poses: retrieve multiple IK solutions & check collisions
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2017-03-02 17:20:48 +01:00 |
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v4hn
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34bd5f8614
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generate grasp poses: add time management
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2017-03-02 14:54:13 +01:00 |
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v4hn
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5ff374a551
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remove superfluous include
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2017-03-02 13:39:13 +01:00 |
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v4hn
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e3604eab38
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stub: plan ad infinitum and print after each iteration
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2017-03-02 13:37:28 +01:00 |
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v4hn
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6e5308740b
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first incomplete version of GenerateGraspPose
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2017-03-02 00:40:51 +01:00 |
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v4hn
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cd6f2d74da
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add explicit destructor for Task
Without this rml_ would be deleted before all IK plugins are unloaded
and class_loader still can't handle this...
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2017-03-01 16:27:20 +01:00 |
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v4hn
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a1ef95300c
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add a simple printState function to task
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2017-03-01 16:17:09 +01:00 |
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v4hn
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63e1d4fd78
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reorder subtask get functions
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2017-03-01 16:09:54 +01:00 |
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v4hn
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2e190cfd7d
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enable open-gripper in plan_pick
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2017-03-01 15:44:19 +01:00 |
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v4hn
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c77d9106a6
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introduce more interfaces / Gripper forward planning now works
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2017-03-01 15:19:30 +01:00 |
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v4hn
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651fd9a946
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activate CurrentState in plan_pick
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2017-02-28 17:09:58 +01:00 |
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v4hn
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039f1e6896
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Task now holds a PlanningScene
instead of just a RobotModel.
All generating subtasks need the scene,
so avoid every single one of them asking for it.
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2017-02-28 16:47:09 +01:00 |
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v4hn
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8af3645af9
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first implementation of subtask::CurrentState
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2017-02-28 15:37:25 +01:00 |
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v4hn
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0bcef6b07c
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stub planning by calling each subtask once
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2017-02-28 15:36:43 +01:00 |
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v4hn
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0e5d39a94d
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introduce a number of interfaces as loose ends
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2017-02-28 15:27:05 +01:00 |
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v4hn
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bd67649fd2
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first sketch of the graph design
+ skeleton of a first node "current_state"
+ vision of a test application
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2017-02-28 11:29:38 +01:00 |
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v4hn
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e2b3cdb27d
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add gitignore for vim swp
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2017-02-28 11:12:18 +01:00 |
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v4hn
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bb1d072418
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initial commit
add a test binary for later use.
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2017-02-27 11:49:22 +01:00 |
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