Robert Haschke
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eb50aaed0e
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SolutionBase: rename 'name' to 'comment'
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2018-05-30 20:25:42 +02:00 |
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Robert Haschke
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84dec07565
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MoveTo/MoveRelative: generic IK target frame
...instead of simple link name
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2018-05-30 20:25:07 +02:00 |
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v4hn
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495c80350b
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Merge branches 'joint_pose', 'move-relative-joints', 'basic-merger' and 'compute-ik'
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2018-05-30 19:35:58 +02:00 |
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v4hn
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015b1466f4
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MoveRel: handle unknown links with hard failure
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2018-05-30 19:09:57 +02:00 |
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v4hn
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56c9128d99
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MoveTo: cleaner strict handling of invalid properties
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2018-05-30 18:53:39 +02:00 |
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v4hn
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b8e6e5e2fa
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MoveTo: reduce scope of try-catch
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2018-05-30 18:44:26 +02:00 |
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v4hn
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bbd274da96
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MoveTo: simplify getJointStateGoal
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2018-05-30 18:42:31 +02:00 |
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Robert Haschke
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b7b7a916df
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basic merger functionality
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2018-05-18 17:44:55 +02:00 |
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Robert Haschke
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5e8117720e
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ignore failures for further processing
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2018-05-18 17:44:43 +02:00 |
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Robert Haschke
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abb68da083
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forward properties
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2018-05-18 17:44:43 +02:00 |
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Robert Haschke
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ce10d96c5c
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ComputeIK: report collision pairs
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2018-05-18 17:44:43 +02:00 |
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Robert Haschke
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41e64ed7e1
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remove std::map serialization
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2018-05-18 17:44:30 +02:00 |
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Robert Haschke
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40ca35085a
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cleanup
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2018-05-18 17:44:30 +02:00 |
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llach
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9a7aa4dad7
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Pick: added setter for relative joint lift motion
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2018-05-18 17:44:30 +02:00 |
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llach
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d0c8f7f819
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MoveRelative: added relative joint space goals to
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2018-05-18 17:44:30 +02:00 |
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llach
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0779c255df
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added stream serialization for std::map<std::string, T>
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2018-05-18 17:44:30 +02:00 |
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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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