Commit Graph

1174 Commits

Author SHA1 Message Date
v4hn
42fb4c147b gengrasppose: produce better output 2017-03-02 17:41:28 +01:00
v4hn
a346b64e35 test_plan_gen_grasp_pose: clean exit 2017-03-02 17:36:19 +01:00
v4hn
a2ce5909a1 task: abort if nothing could compute 2017-03-02 17:35:31 +01:00
v4hn
f247901623 generate grasp pose: store colliding states as infeasible solutions
This way there is no need to do collision checking for this solution again
2017-03-02 17:24:21 +01:00
v4hn
c3c6d899cb fix implicit copy
It seems (not verified) the vector is copied here by bind.
Instead, let's pass a pointer.
2017-03-02 17:23:13 +01:00
v4hn
798f9c0839 add angle delta for generate grasp poses 2017-03-02 17:21:36 +01:00
v4hn
19c351b27d generate grasp poses: retrieve multiple IK solutions & check collisions 2017-03-02 17:20:48 +01:00
v4hn
34bd5f8614 generate grasp poses: add time management 2017-03-02 14:54:13 +01:00
v4hn
5ff374a551 remove superfluous include 2017-03-02 13:39:13 +01:00
v4hn
e3604eab38 stub: plan ad infinitum and print after each iteration 2017-03-02 13:37:28 +01:00
v4hn
6e5308740b first incomplete version of GenerateGraspPose 2017-03-02 00:40:51 +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
63e1d4fd78 reorder subtask get functions 2017-03-01 16:09:54 +01:00
v4hn
2e190cfd7d enable open-gripper in plan_pick 2017-03-01 15:44:19 +01:00
v4hn
c77d9106a6 introduce more interfaces / Gripper forward planning now works 2017-03-01 15:19:30 +01:00
v4hn
651fd9a946 activate CurrentState in plan_pick 2017-02-28 17:09:58 +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
8af3645af9 first implementation of subtask::CurrentState 2017-02-28 15:37:25 +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
v4hn
e2b3cdb27d add gitignore for vim swp 2017-02-28 11:12:18 +01:00
v4hn
bb1d072418 initial commit
add a test binary for later use.
2017-02-27 11:49:22 +01:00