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