Commit Graph

20 Commits

Author SHA1 Message Date
Robert Haschke
da9cdb5cf6 PropertyMap: different exception types
undeclared
undefined
type_error
2018-02-24 13:42:18 +01:00
Robert Haschke
9cd6efe46f Stage::init(PlanningScene) -> Stage::init(RobotModel) 2018-02-24 13:37:50 +01:00
Robert Haschke
35f1540369 recursive interface auto-detection
trigger auto-detection from top (task) level:
only there we now for sure the accepted interface
2018-02-19 01:05:56 +01:00
Robert Haschke
f45a4e3e2c improve validation
- postpone pruning / interface auto-detection to top task-level
  only the task state knows for sure, that it requires its wrapped child to push to both ends
- perform connectivity validation only after pruning
  only then, we the interfaces are completely determined
2018-02-19 01:05:56 +01:00
Robert Haschke
a523333ef6 basic auto-detection of interfaces for propagating stages
works if propagation direction can be derived from a generator or
connecting stage within the sequence

start-to-end propagation through whole serial container still fails
2018-02-18 21:23:12 +01:00
Robert Haschke
ec2b06292e extended unittest for serial connection validation 2018-02-18 14:03:57 +01:00
Robert Haschke
2ea463fff4 replace std::cout with ros console 2018-02-16 16:01:05 +01:00
Robert Haschke
eaaaf07214 exploit default argument for Interface constructor 2018-02-12 23:39:46 +01:00
Robert Haschke
3a4dc6755b Merge branches 'fix-remote-task-model', 'wip-cost-ordering' and 'wip-properties' 2018-02-12 23:35:01 +01:00
Robert Haschke
fe2c4f312e serialize stage properties 2018-02-12 22:45:15 +01:00
Robert Haschke
c3eead0115 allow only a single inititialization source 2018-02-12 22:45:15 +01:00
Robert Haschke
c84fa4cdd6 cost ordered API 2018-02-12 22:36:12 +01:00
Robert Haschke
97bb6ef2c6 allow handling of failures
- store "failure" solutions to facilitate debugging
- Introspection assigns solution IDs as soon as they are created in a stage
  Thus, solution IDs represent their creation order.
  In contrast, the order of publishing (in StageStatistics) should
  represent the cost order.
- Storing failures is disabled if Introspection is not available.
2018-02-12 22:35:58 +01:00
Robert Haschke
fe05894709 renamed GenerateGraspPose::setGraspFrame() to setToolToGraspTF() 2018-02-04 09:01:45 +01:00
Robert Haschke
0918ad6897 implement IK as separate stage
... wrapping another stage
2018-02-04 09:01:45 +01:00
Robert Haschke
e4ad7a0753 removed Stage::validate()
... only was checking for implies(a, a) which is always true
2018-02-04 09:01:45 +01:00
Robert Haschke
41ec46964a more unit tests 2018-02-04 08:56:11 +01:00
Robert Haschke
f2b688d1f0 generalize GenerateGraspPose
replacing scalar graspOffset and hard-coded Euler angles with arbitrary graspFrame
2018-02-03 21:45:40 +01:00
Robert Haschke
7d8f8dfc8d PropertyMap 2017-12-13 14:19:20 +01:00
Robert Haschke
9c5ddd3f6d split repo into different ROS packages: msgs, core, visualization 2017-11-12 21:42:48 +01:00