Robert Haschke
7bd9bcf972
allow preemption of Task::plan()
2018-09-25 22:16:45 +02:00
Robert Haschke
e5e291d86f
FixCollisions stage
2018-09-25 22:16:45 +02:00
Robert Haschke
a7b74673ce
PlannerInterface for joint-space interpolation
2018-09-25 22:16:45 +02:00
Robert Haschke
5920828b42
fix cylinder markers
...
rviz' Marker expects scale.x/y to be diameter instead of radius
2018-09-25 22:16:45 +02:00
Robert Haschke
4860462076
ComputeIK: forward child solution's comment
2018-09-25 16:25:22 +02:00
Robert Haschke
c70db65578
fixup! MoveTo: store goal as any type
2018-09-25 16:25:13 +02:00
Robert Haschke
ca9d50e7d8
fix compiler warnings
2018-09-25 13:30:53 +02:00
Robert Haschke
f2573e9bfd
fix include order
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Local headers should be preferred over those from underlay.
Consequently use target_include_directories() to properly define include order.
2018-09-25 13:30:53 +02:00
Robert Haschke
ff2474f262
pa10 doesn't need move_group
2018-06-03 12:36:12 +02:00
Robert Haschke
932ab5eba3
cast demos as integration unit tests
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- moved demos from demo to test folder
- run them as unittest, checking range of solutions
2018-06-03 12:36:01 +02:00
Robert Haschke
3215880b98
Merge branches 'move-to', 'simple-grasp' and 'properties' into master
...
These branches only work together:
- MoveTo / MoveRelative: common handling of "goal" property
- properties: required changes to allow for multiple inheritance
- generalize SimpleGrasp / GenerateGraspPose
2018-06-03 11:38:50 +02:00
Robert Haschke
2e46082521
remove Container::exposePropertiesOfChild()
2018-06-03 11:36:50 +02:00
Robert Haschke
157caac385
generalize SimpleGrasp / GenerateGraspPose
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- move "pregrasp", "grasp" property from SimpleGrasp to GenerateGraspPose
- Container::exposePropertiesOfChild: decouple exposure from inheritance
2018-06-03 11:36:50 +02:00
Robert Haschke
544f574166
MoveRelative: store goal as any type
2018-06-03 09:22:06 +02:00
Robert Haschke
00260d62b5
MoveTo: store goal as any type
2018-06-03 09:22:06 +02:00
Robert Haschke
941dee7fc1
exposeTo: const method
2018-06-03 09:22:06 +02:00
Robert Haschke
abc4c5de50
PropertyMap: allow any type
2018-06-03 09:18:37 +02:00
Robert Haschke
a8431ce661
Container::exposePropertiesOfChild: allow skipping of undefined props
2018-06-03 06:46:12 +02:00
Robert Haschke
0dab499533
Stage: generally allow forwarding of interface properties
2018-06-03 06:46:12 +02:00
Robert Haschke
92296e020f
SimpleGrasp(GraspGenerator)
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allow any GraspGenerator stage that provides "pregrasp" and "grasp"
postures as well as a target_pose for grasping.
2018-06-03 06:46:12 +02:00
Robert Haschke
beffe27987
improve property debugging
2018-06-03 06:42:11 +02:00
Robert Haschke
cbb2cd69f7
property inheritance: both from PARENT and INTERFACE
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- source_id -> source_flags: bits indicating configured paths
- initializers, e.g. fromName(), should throw
- ignore undeclared errors during inheritance
- on undefined error, reset the value to None
- override value only if previously set by lower-priority source
MANUAL > CURRENT > PARENT > INTERFACE
2018-06-03 06:36:15 +02:00
Robert Haschke
abea2ee82b
reuse boost::any's type_index type
2018-06-02 17:46:37 +02:00
Robert Haschke
2e9932cfbc
fix: don't report config issues as successful (but empty) solutions
2018-06-02 17:46:28 +02:00
v4hn
381210f43d
compatibility with boost 1.54
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This is required for ROS indigo on ubuntu 14.04
2018-06-01 15:02:11 +02:00
Michael Görner
5739bf39d9
use correct frame in pick ( #52 )
2018-06-01 14:55:23 +02:00
v4hn
0091c76208
compute ik: ignore collisions skips early eef check
2018-06-01 11:34:07 +02:00
v4hn
4026661bfe
Rewrite and relax approx comparisons
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This is more readable.
Adjusting the threshold to 1e-4 is required to allow for tolerances
in potential sampling planner steps in between.
2018-06-01 11:32:29 +02:00
v4hn
bd1edcbde7
add max_solutions param to plan()
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For big problems you just don't want *all* solutions
2018-06-01 11:13:44 +02:00
Robert Haschke
ac1ccba883
minor formatting changes ( #51 )
2018-05-31 18:01:30 +02:00
Robert Haschke
b35aba6e19
validate merged trajectories
2018-05-30 21:23:34 +02:00
Robert Haschke
941e9df737
declare properties "timeout", "marker_ns" for all stages
2018-05-30 21:21:14 +02:00
Robert Haschke
c2dd28abae
rework storing of solutions
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- solutions_, failures_ as SolutionBaseConstPtrs in StagePrivate
- replace processSolutions() / processFailures() by direct const-access to storage containers
- generic sendForward(), sendBackward(), spawn(), connect() methods in StagePrivate
- reuse StagePrivate's sendForward(), sendBackward(), spawn() in containers
- store created InterfaceStates in StagePrivate::states_
- Interface: ordered<InterfaceState*> (only store pointers)
allows for common handling of states of valid and failure solutions
- remove additional state+solution storages
- containers: internal->external state mapping as InterfaceState* -> InterfaceState*
2018-05-30 21:02:50 +02:00
v4hn
ae6b86c7d7
remove void line
...
?
2018-05-30 21:02:19 +02:00
Robert Haschke
5878e8ab6b
correctly reset FixedState
2018-05-30 21:02:03 +02:00
Robert Haschke
52fdf30433
simplify compute() API
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- remove bool return value
- always create a solution trajectory, also in case of failures
- success/failure determined from solution.isFailure()
minor adjustments during cherry-pick
2018-05-30 21:01:34 +02:00
Robert Haschke
eb50aaed0e
SolutionBase: rename 'name' to 'comment'
2018-05-30 20:25:42 +02:00
Robert Haschke
84dec07565
MoveTo/MoveRelative: generic IK target frame
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...instead of simple link name
2018-05-30 20:25:07 +02:00
v4hn
495c80350b
Merge branches 'joint_pose', 'move-relative-joints', 'basic-merger' and 'compute-ik'
2018-05-30 19:35:58 +02:00
v4hn
015b1466f4
MoveRel: handle unknown links with hard failure
2018-05-30 19:09:57 +02:00
v4hn
56c9128d99
MoveTo: cleaner strict handling of invalid properties
2018-05-30 18:53:39 +02:00
v4hn
b8e6e5e2fa
MoveTo: reduce scope of try-catch
2018-05-30 18:44:26 +02:00
v4hn
bbd274da96
MoveTo: simplify getJointStateGoal
2018-05-30 18:42:31 +02:00
Robert Haschke
b7b7a916df
basic merger functionality
2018-05-18 17:44:55 +02:00
Robert Haschke
5e8117720e
ignore failures for further processing
2018-05-18 17:44:43 +02:00
Robert Haschke
abb68da083
forward properties
2018-05-18 17:44:43 +02:00
Robert Haschke
ce10d96c5c
ComputeIK: report collision pairs
2018-05-18 17:44:43 +02:00
Robert Haschke
41e64ed7e1
remove std::map serialization
2018-05-18 17:44:30 +02:00
Robert Haschke
40ca35085a
cleanup
2018-05-18 17:44:30 +02:00
llach
9a7aa4dad7
Pick: added setter for relative joint lift motion
2018-05-18 17:44:30 +02:00