Robert Haschke
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9e19f2187b
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moved implementations of property setters to header
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2018-05-18 17:44:17 +02:00 |
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Robert Haschke
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17e487be06
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cleanup
- indentation: space -> tabs
- only consider joints of JMG
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2018-05-18 17:44:17 +02:00 |
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llach
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2be3ee611b
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adapted MoveTo api change. joint_pose -> named_joint_pose
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2018-05-18 17:44:17 +02:00 |
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llach
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55470062c9
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MoveTo: converting named joint poses to robot state msg in init; property names refactoring
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2018-05-18 17:44:17 +02:00 |
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llach
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97c2312d67
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MoveTo: can now take RobotState msg as goal
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2018-05-18 17:44:17 +02:00 |
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Robert Haschke
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19fa7349d3
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Task: only accept containers
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2018-05-18 17:42:34 +02:00 |
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Robert Haschke
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e3ca832497
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Property: silently return empty string when serialization is not supported
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2018-05-18 17:42:34 +02:00 |
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Robert Haschke
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2106c51c9d
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Property: provide a fallback serialize() implementation
... in case operator<< is not defined for type T
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2018-04-28 22:13:52 +02:00 |
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Robert Haschke
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ae3b9126bd
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get rid off empty JointState errors
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2018-04-27 12:07:27 +02:00 |
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Robert Haschke
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ecf8029f75
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add timing to merged trajectories
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2018-04-27 12:06:59 +02:00 |
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Robert Haschke
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872e3cc004
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unittest for Priority comparisons
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2018-04-27 12:04:55 +02:00 |
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Robert Haschke
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8fb47e99e8
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update ordering on any change of priority
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2018-04-27 12:04:55 +02:00 |
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Robert Haschke
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67b6dcb49b
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move implementation into cpp file
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2018-04-27 12:04:55 +02:00 |
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v4hn
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bbb64f2f8c
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inf cost states always go last
Also update sorted interface when state becomes inf or get's new cost.
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2018-04-27 12:04:55 +02:00 |
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Robert Haschke
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728c1b40e2
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Merge branches 'travis', 'fixes', 'visualization' and 'todos'
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2018-04-15 12:01:19 +02:00 |
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Robert Haschke
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b8a4653f31
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relax equality condition for joint values for inactive groups
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2018-04-15 11:55:45 +02:00 |
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Robert Haschke
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5c525f8729
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consider v4hn's comment
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2018-04-15 11:55:45 +02:00 |
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Robert Haschke
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433db67cf9
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only attempt to merge if there is something to merge
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2018-04-15 11:55:45 +02:00 |
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Robert Haschke
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90b0b006eb
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more todo
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2018-04-15 11:26:00 +02:00 |
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Robert Haschke
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6d6f185870
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feedback
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2018-04-15 11:26:00 +02:00 |
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v4hn
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ade42456b8
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list of random todos
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2018-04-15 11:26:00 +02:00 |
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Robert Haschke
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51e1dda6ec
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minor improvements: variable names, comments
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2018-04-10 01:52:40 +02:00 |
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Robert Haschke
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564f3b0514
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fix MoveRelative
Ignore success of planner_->plan() when min_distance is specified (and >= 0).
In this case, compute the achieved distance myself.
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2018-04-10 01:52:40 +02:00 |
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Robert Haschke
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525ac10bbf
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std::string -> const std::string&
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2018-04-10 01:52:40 +02:00 |
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Robert Haschke
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f2c0c7bf90
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rename enableCollision -> allowCollision
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2018-04-10 01:52:40 +02:00 |
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Robert Haschke
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fee7352961
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renamed demo: plan_pick_trixi -> plan_pick_pr2
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2018-04-10 01:52:40 +02:00 |
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Robert Haschke
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a044b719ac
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removed old stages: Move, Gripper, CartesianPositionMotion
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2018-04-10 01:52:40 +02:00 |
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Robert Haschke
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b22217deab
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fix trajectory merging: initialize from well-defined RobotState
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2018-04-10 01:52:40 +02:00 |
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Robert Haschke
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c553275276
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SolutionSequence::fillMessage: ignore sub solutions with same creator as parent
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2018-04-10 01:52:40 +02:00 |
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Robert Haschke
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556d9e1a5e
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Merge branches 'robot-model', 'task-move-constructor' and 'const-robot-trajectory'
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2018-04-09 21:11:19 +02:00 |
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Robert Haschke
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2b79f15244
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SubTrajectory: promise to not modify encapsulated RobotTrajectory
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2018-04-09 21:10:18 +02:00 |
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Robert Haschke
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7463621f56
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move assignment operator
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2018-04-09 21:10:08 +02:00 |
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Robert Haschke
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7ebc4b2c7e
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Task: move constructor
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2018-04-09 21:10:08 +02:00 |
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Robert Haschke
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35b35cc17e
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enable introspection only if ROS was initialized
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2018-04-09 21:09:49 +02:00 |
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Robert Haschke
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bd60e6f65d
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Task::setRobotModel() / Task::loadRobotModel()
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2018-04-09 21:09:49 +02:00 |
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Robert Haschke
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70065c98e7
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Merge branches 'master' 'generate-pose' and 'connect'
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2018-04-09 21:08:45 +02:00 |
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Robert Haschke
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21242ea976
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publish failures
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2018-04-09 21:08:17 +02:00 |
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Robert Haschke
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047a3f7db4
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report duplicate joints, accept fixed joints as duplicates
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2018-04-09 21:08:17 +02:00 |
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Robert Haschke
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55e3aae30a
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merge trajectories
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2018-04-09 21:08:17 +02:00 |
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Robert Haschke
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03092e7e45
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utility functions to merge multiple RobotTrajectories
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2018-04-08 02:36:55 +02:00 |
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Robert Haschke
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2c08d9080d
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Pick, Place as specializations of PickPlaceBase
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2018-04-08 02:36:55 +02:00 |
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Robert Haschke
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ce5d7c63f0
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SimpleGrasp, SimpleUnGrasp as specializations of SimpleGraspBase
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2018-04-08 02:36:55 +02:00 |
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Robert Haschke
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97d2eb5c6a
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Pick: remove Connect
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2018-04-08 02:36:55 +02:00 |
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Robert Haschke
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85e88eabd1
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Connecting::compatible() to check compatibility of states
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2018-04-08 02:36:55 +02:00 |
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Robert Haschke
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eee53a0d80
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MoveTo: use moving frame markers
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2018-04-05 22:54:51 +02:00 |
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v4hn
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1424b51f79
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expose typed setters in Cartesian solver
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2018-04-05 22:53:24 +02:00 |
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Robert Haschke
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77442c0eed
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Connect: allow multiple groups to be processed in series
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2018-04-05 13:51:50 +02:00 |
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Robert Haschke
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8811045f89
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setCreator() once in StagePrivate::newSolution()
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2018-04-05 13:51:50 +02:00 |
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Robert Haschke
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9ceecd235f
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SerialSolution -> SolutionSequence
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2018-04-05 13:51:50 +02:00 |
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Robert Haschke
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4d77390d77
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validate existence of object frame in init()
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2018-04-05 13:50:09 +02:00 |
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Robert Haschke
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9e1c3059e1
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derive GenerateGraspPose from GeneratePose
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2018-04-05 13:50:09 +02:00 |
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Robert Haschke
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3640928a76
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postpone pose transformation
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2018-04-05 13:50:09 +02:00 |
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Robert Haschke
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603696f294
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add missing reset()
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2018-04-05 13:50:09 +02:00 |
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v4hn
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76c6ba14fa
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add a simple GeneratePose stage
ComputeIK is a wrapper, so we can't just give it a pose to compute.
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2018-04-05 13:50:09 +02:00 |
|
llach
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a82a48bb70
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fix PropertyMap::exposeTo: use other_name as new name for property (#40)
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2018-04-05 13:47:23 +02:00 |
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llach
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124979e2a8
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MoveRelative: adapt msgs to fit class name (#39)
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2018-04-05 13:46:13 +02:00 |
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Robert Haschke
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205beea503
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Merge pull request #28 from ros-planning/pr-path-constraints
implement path constraints
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2018-03-26 09:54:02 +02:00 |
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Robert Haschke
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2ca68e6645
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actually implement path constraints for CartesianPath planner
... validating constraints
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2018-03-26 09:50:17 +02:00 |
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v4hn
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d7d80c3499
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implement path constraints for Move*
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2018-03-26 09:50:17 +02:00 |
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v4hn
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80ae01dcca
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expose timeout property as typed setter
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2018-03-26 09:50:17 +02:00 |
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v4hn
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8af44cefc3
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add path constraints to planner API
and use it in the Connect class.
The cartesian planner ignores the constraints for now.
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2018-03-26 09:50:17 +02:00 |
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Robert Haschke
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f0dc02e2c3
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ContainerBasePrivate::position() -> childByIndex()
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2018-03-26 00:24:25 +02:00 |
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Robert Haschke
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84f5c481be
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ContainerBasePrivate::position(): generically handle shifting
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2018-03-26 00:24:25 +02:00 |
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Robert Haschke
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ff0ee407ff
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remove tool_to_grasp_tf from SimpleGrasp
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2018-03-25 06:07:53 +02:00 |
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Robert Haschke
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54e4d8eed7
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remove tool_to_grasp_tf from GenerateGraspPose
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2018-03-25 06:07:53 +02:00 |
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Robert Haschke
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12e134ad09
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added disclaimer
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2018-03-25 06:07:53 +02:00 |
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Robert Haschke
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893cb25b5b
|
fix isTargetPoseColliding
- must not use new sandbox_scene (we want to display the place eef)
- jmg not needed anymore
|
2018-03-25 06:07:53 +02:00 |
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Robert Haschke
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c98f10478e
|
frame marker at ik frame
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2018-03-25 06:07:53 +02:00 |
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Robert Haschke
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5b6a02d105
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rename reference frame -> ik frame
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2018-03-25 06:07:53 +02:00 |
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Robert Haschke
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f497112513
|
consider reference_frame
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2018-03-25 06:04:09 +02:00 |
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Robert Haschke
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7531b8ad54
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allow arbitrary reference frame for target_pose and ik frame
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2018-03-25 06:04:09 +02:00 |
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Robert Haschke
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4fcac84d76
|
remove tests that do not test anything
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2018-03-25 06:04:09 +02:00 |
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Robert Haschke
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9e5e098339
|
unittests
- provide simple hard-coded robot model
- test ComputeIK::init()
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2018-03-25 06:04:09 +02:00 |
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Robert Haschke
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f4adaa949a
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validate available properties during init()
|
2018-03-25 06:04:09 +02:00 |
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Robert Haschke
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5a55a5949b
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Merge branches 'bug-fixes', 'gui' and 'pick-stage'
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2018-03-24 07:32:20 +01:00 |
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Robert Haschke
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a4fed6a18a
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MoveTo Cartesian: create marker frame at current and goal pose
|
2018-03-24 06:16:10 +01:00 |
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Robert Haschke
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cb38a87a73
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CartesianPath: return a partial trajectory in case of failure
|
2018-03-24 06:16:10 +01:00 |
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Robert Haschke
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81d88911a9
|
cosmetic fixes
|
2018-03-23 17:18:56 +01:00 |
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Robert Haschke
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2331c9aef2
|
pick: expose IK link frame as eef_frame
|
2018-03-23 17:18:56 +01:00 |
|
Robert Haschke
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1c61fb3b85
|
expose solvers
|
2018-03-23 17:18:56 +01:00 |
|
llach
|
ea6cc4b6bf
|
moved "attach object" from "pick" to "grasp" stage
|
2018-03-23 17:18:56 +01:00 |
|
Robert Haschke
|
ceaf896bf8
|
position scene node w.r.t. fixed frame
|
2018-03-23 11:22:23 +01:00 |
|
Robert Haschke
|
c2590636b1
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fixup! SerialContainer: don't consider failures for solutions
|
2018-03-23 11:22:23 +01:00 |
|
Robert Haschke
|
862ac37cd6
|
fix ContainerBasePrivate::copyState(): don't copy (again) on update
|
2018-03-23 11:22:23 +01:00 |
|
Robert Haschke
|
b3af170663
|
reset num_failures_
|
2018-03-23 11:22:23 +01:00 |
|
Robert Haschke
|
6b912c3531
|
MoveTo Cartesian Point: bug fix
|
2018-03-23 11:22:23 +01:00 |
|
Robert Haschke
|
6d859840c3
|
fix interface detection for nested SerialContainers
|
2018-03-23 09:18:21 +01:00 |
|
Robert Haschke
|
159beeb044
|
fix SerialContainer::canCompute()
|
2018-03-23 09:18:21 +01:00 |
|
Robert Haschke
|
bff6cc569c
|
pick: reusable stage for picking up an object
|
2018-02-25 23:14:52 +01:00 |
|
Robert Haschke
|
d731e943f1
|
Merge branch 'parallel-container'
|
2018-02-25 23:12:35 +01:00 |
|
Robert Haschke
|
9545f92678
|
GenerateGraspPose::reset()
|
2018-02-25 23:11:55 +01:00 |
|
Robert Haschke
|
12582f6bbc
|
SerialContainer: don't consider failures for solutions
|
2018-02-25 20:01:43 +01:00 |
|
Robert Haschke
|
99adfaf454
|
fix ParallelContainers' init()
|
2018-02-25 13:22:26 +01:00 |
|
Robert Haschke
|
dcf23f6147
|
relax ParallelContainer's validateConnectivity()
|
2018-02-25 13:22:26 +01:00 |
|
Robert Haschke
|
bcacda8507
|
implement ParallelContainer's pruneInterface()
|
2018-02-25 13:22:26 +01:00 |
|
eirtech
|
0dc4f5c53e
|
ParallelContainer's requiredInterface()
|
2018-02-25 13:22:26 +01:00 |
|
eirtech
|
3e4aa19246
|
ParallelContainer: unittests
|
2018-02-25 13:22:14 +01:00 |
|
Robert Haschke
|
a2fd5fb7b8
|
more constexpr InterfaceFlags
|
2018-02-25 11:59:51 +01:00 |
|
Robert Haschke
|
a24039846a
|
Merge branches 'analyze-property-errors' and 'fixes'
|
2018-02-24 13:45:51 +01:00 |
|
Robert Haschke
|
94bb50ddc1
|
fixup! PropertyMap: different exception types
|
2018-02-24 13:42:18 +01:00 |
|