Commit Graph

30 Commits

Author SHA1 Message Date
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
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
2d5797d741 restore online publishing of new solutions 2017-09-28 20:35:44 -07:00
Robert Haschke
6d10f7e835 moved plan publishing into debug.cpp 2017-09-28 20:35:44 -07:00
Robert Haschke
fd62e46828 use namespace definitions 2017-09-28 20:33:42 -07:00
Robert Haschke
a5b7f0c2f3 fix publishing plans 2017-09-28 00:03:47 -07:00
v4hn
d2d93967ce consistency: Begin -> Beginning 2017-09-12 09:21:31 +02:00
v4hn
d801c4441c simplify interface
the currently-advertised version is a linear pipeline
and the graph-based version would still need some reworking,
so stick with simple "add".
2017-09-04 00:52:49 +02:00
v4hn
d33aec2715 fix typo 2017-09-03 18:44:35 +02:00
v4hn
789b94c2ac don't sleep after publishing solutions 2017-03-24 12:49:23 +01:00
v4hn
be4769c03c task: publish plans until now after each round of computation 2017-03-24 12:48:58 +01:00
v4hn
25fcc39a33 task: flag previously returned trajectories to return them only once
This required to move from RobotTrajectorys to SubTrajectorys in more
interfaces, as well as fewer const-changes to handle the flags.
2017-03-24 12:46:59 +01:00
v4hn
3c3ae44517 actually handle return values in traversal code... 2017-03-12 17:34:37 +01:00
v4hn
4955a64181 add methods to traverse through all solutions 2017-03-07 14:58:57 +01:00
v4hn
fa75b763e1 micro cleanup 2017-03-06 19:06:45 +01:00
v4hn
f1fb66b06f reset planner before rml_
apparently this isn't enough though... Something else seems to store
the robot model (or planner plugin?) because I still get

1488809503.141933190: ros.rosconsole_bridge.class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded.
2017-03-06 15:13:05 +01:00
v4hn
3ddf3bf808 don't sleep anymore after each round of computation 2017-03-06 15:09:29 +01:00
v4hn
07b1a72030 add planning pipeline to task and subtasks
This allows to plan in the subtasks without ROS communication
2017-03-05 13:06:16 +01:00
v4hn
42b78eb8c5 don't reprint state at end of plan_pick 2017-03-04 17:00:02 +01:00
v4hn
a2ce5909a1 task: abort if nothing could compute 2017-03-02 17:35:31 +01:00
v4hn
e3604eab38 stub: plan ad infinitum and print after each iteration 2017-03-02 13:37:28 +01:00
v4hn
cd6f2d74da 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...
2017-03-01 16:27:20 +01:00
v4hn
a1ef95300c add a simple printState function to task 2017-03-01 16:17:09 +01:00
v4hn
c77d9106a6 introduce more interfaces / Gripper forward planning now works 2017-03-01 15:19:30 +01:00
v4hn
039f1e6896 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.
2017-02-28 16:47:09 +01:00
v4hn
0bcef6b07c stub planning by calling each subtask once 2017-02-28 15:36:43 +01:00
v4hn
0e5d39a94d introduce a number of interfaces as loose ends 2017-02-28 15:27:05 +01:00
v4hn
bd67649fd2 first sketch of the graph design
+ skeleton of a first node "current_state"
+ vision of a test application
2017-02-28 11:29:38 +01:00