v4hn
58b1a020b5
Fix memory leak in unit test
2021-05-28 00:19:45 +02:00
Robert Haschke
f070247a25
Fix compiler warnings
2021-05-27 22:24:29 +02:00
Robert Haschke
f5022cc1d4
GHA: check for warnings + address sanitizer
2021-05-27 22:24:23 +02:00
j-kuehn
67fe4faa30
allow to consider specific joints only in cost terms
2021-05-25 15:47:18 +02:00
Robert Haschke
81fae53009
PyMonitoringGenerator
2021-05-21 12:20:54 +02:00
Robert Haschke
9f7139f376
Fix names of trampoline classes
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Using template names T is not a good idea, because this name is used
verbatim for some error reporting, resulting e.g. in:
Tried to call pure virtual function "T::canCompute"
2021-05-21 11:40:12 +02:00
Robert Haschke
0967aa808b
Update pybind11 submodule
2021-05-21 01:55:39 +02:00
Robert Haschke
1e7fe85573
smart_holder: conservative mode
...
... to become compatible with classical pybind11 modules, e.g. the MoveIt packages
2021-05-21 01:55:39 +02:00
Robert Haschke
7d0b6da04f
Generator::spawn()
2021-05-21 01:55:39 +02:00
Robert Haschke
a03ea5a4a9
Use pybind11's smart_holder branch
2021-05-20 03:56:47 +02:00
Robert Haschke
defe144b55
Use py:overload_cast<>()
2021-05-20 03:52:32 +02:00
Robert Haschke
fc0abe9dd9
Merge branch 'master' into wip-python-api
2021-05-20 03:49:52 +02:00
Robert Haschke
3c286b2226
Augment license/disclaimer
2021-05-19 23:04:44 +02:00
Robert Haschke
f006ff7a37
Allow casting of PoseStamped from string
2021-05-19 23:04:44 +02:00
Robert Haschke
84ccd679d9
Fix compiler warnings
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unused parameters and functions
2021-05-19 21:54:48 +02:00
Robert Haschke
94ff53e11e
Fix catkin_lint warning
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include paths 'motion_planning_tasks/src' and 'motion_planning_tasks' are ambiguous
2021-05-19 17:10:50 +02:00
Robert Haschke
74ece5daf7
GHA: Fix coverage testing
2021-05-19 17:10:50 +02:00
v4hn
7eb8fad57e
remove unused helper method
2021-05-12 19:21:19 +02:00
v4hn
f7015ee021
fix pick_ur5 test
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TAMS' models changed and often produces less solutions.
2021-05-12 19:21:19 +02:00
j-kuehn
d71c645d83
add visualization for Point goals ( #264 )
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- move visualization from `getPoseGoal` to `compute`
- create target frame from `target_eigen` to allow visualization from Pose and Point goals
2021-05-11 10:53:15 +02:00
j-kuehn
ba0b4f6146
Improve arrow visualization for MoveRelative stage ( #255 )
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Implement visualization as red-green arrow
* overload makeArrow to allow creation with points
* create new function for visualization
* if no plan is found, construct arrow from green cylinder and red arrow
* adjust arrow construction for backward propagators
2021-05-03 21:29:05 +02:00
Michael Görner
93d95e394f
Merge pull request #261 from ubi-agni/GHA
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Switch to GitHub actions
2021-05-03 11:27:33 +02:00
Robert Haschke
cfcb1f274e
Fix more clang-tidy issues
2021-04-24 02:12:24 +02:00
Robert Haschke
4fa8c10f44
clang-tidy auto-fixes
2021-04-24 02:03:24 +02:00
Robert Haschke
889b61529b
Fix trailing white space
2021-04-23 23:49:50 +02:00
Robert Haschke
181cc492d4
Fix catkin_lint errors
2021-04-23 23:49:50 +02:00
Robert Haschke
cc5f1ad934
Switch CI to GitHub Actions
2021-04-23 23:49:50 +02:00
Robert Haschke
dc8cd34b86
Simplify tests
2021-04-01 00:21:07 +02:00
v4hn
4e09d78239
Implement pruning inside-to-outside of a container
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- Remove public onNewFailure() interface
Moved to ContainerBasePrivate to reuse logic for serial and parallel containers.
- Add tests
2021-04-01 00:19:15 +02:00
Robert Haschke
a204d94a19
Configure namespace package
2021-03-31 00:19:51 +02:00
Robert Haschke
5b4ca1d21a
Rename wrapper -> bindings
2021-03-31 00:19:51 +02:00
Robert Haschke
045b358c30
rosdoc_lite configuration
2021-03-31 00:19:51 +02:00
Robert Haschke
3cf92442fb
Simplify generation of pybind11 modules
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* Install module libs into CATKIN_GLOBAL_PYTHON_DESTINATION (assuming unique names).
This avoids the need to link them into the source space, because they are found also from devel space.
* Use pybind11's def_submodule() to create the `core` and `stages` submodules,
everything linked into the same lib
2021-03-31 00:19:51 +02:00
Robert Haschke
d9b7aa37a3
clang-format python wrapping code
2021-03-31 00:19:51 +02:00
cpetersmeier
14e06659d5
Towards inherited classes in Python
2021-03-31 00:19:51 +02:00
Michael Görner
8d25e794bc
Update README.md
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CostTerm API was implemented
2021-03-30 21:21:43 +02:00
v4hn
472a78800d
implement bimap for internal_external state map
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Get hashing for inverted lookups, but incur
structural overhead.
Whether this is worth it depends on the number of mapped interface states
and the number of pruning/reactivation requests.
2021-03-30 15:19:49 +02:00
Robert Haschke
0e3ec0b6ec
fix constness
2021-03-30 15:19:49 +02:00
v4hn
106c138ef5
Implement pruning inside serial container
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By inefficient inverse lookup.
Also add disabled test for the inverted inference (failure inside should prune outside)
2021-03-30 15:19:49 +02:00
Michael Görner
36d9d3e8c0
Rework PipelinePlanner creation ( #249 )
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- Moved Task::createPlanner into PipelinePlanner::create
- Handle mutiple planner pipeline configs as introduced in https://github.com/ros-planning/moveit/pull/2127
2021-03-29 12:00:28 +02:00
Robert Haschke
4ee71881ae
Rework Pruning ( #221 )
2021-03-23 13:04:38 +01:00
Michael Görner
f2958a4a0b
Explicitly instantiate PropagatingEitherWay::send<> templates ( #246 )
...
Otherwise compiler was optimizing (inlining) them away.
2021-03-23 11:37:30 +01:00
v4hn
b7f80939ef
add more asserts to onNewSolution
...
Strictly speaking there is no need for the invariant,
but if something violates it a stage computed something it wasn't meant to.
2021-03-22 14:42:23 +01:00
v4hn
3b6c13e26b
only run propagators on enabled solutions
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resolve simple pruning test
2021-03-22 14:42:23 +01:00
v4hn
3e5e1da429
add (failing) simple pruning test
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to validate propagators do not compute disabled solutions.
It's also good to have a simpler test around than 2 connects.
2021-03-22 14:42:23 +01:00
v4hn
9cf3c01b9a
pruning tests: restructure tests
2021-03-22 14:42:23 +01:00
v4hn
be1c8292b5
add more (commented-out) debug statements
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Also print generator symbol for completeness.
2021-03-22 14:42:23 +01:00
v4hn
e33962364d
resolve PruningMultiForward test
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Every InterfaceState along the partial solution has to be disabled
for pruning, not just the ends that are currently relevant.
2021-03-22 14:42:23 +01:00
v4hn
f8f885966e
add failing pruning test for branching propagator
2021-03-22 14:42:23 +01:00
v4hn
a82b88355e
streamline trait parameters
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state asked for a reference, but trajectories for a pointer.
2021-03-22 14:42:23 +01:00