Commit Graph

22 Commits

Author SHA1 Message Date
Robert Haschke
18119a7985 cleanup cmake 2017-11-03 19:19:33 +01:00
Robert Haschke
6ba66b51a7 reworked TaskModels
- separate RemoteTaskModel / LocalTaskModel, reusing existing storage
- TaskListModel collects several TaskModels
- TaskListModelCache: global singleton,
  maintaining TaskListModel of all tasks in system (used by panels)
- create LocalTask from stages available via pluglinlib
2017-11-03 19:16:04 +01:00
Robert Haschke
022e29caa5 merged task_panel + task_solution_display into motion_planning_tasks folder 2017-11-02 09:53:43 +01:00
Robert Haschke
18cc780407 copied trajectory visualization stuff from moveit 2017-11-02 09:53:43 +01:00
Robert Haschke
8a461af97c TaskPanel: listen to task_monitoring topic 2017-11-02 09:53:28 +01:00
Robert Haschke
f6c3c7b27f replaced debug.cpp with introspection.cpp
providing all services to publish current task state, new solutions, etc.
2017-10-29 01:06:51 +02:00
Robert Haschke
7a1fc21f2e reworked introspection messages 2017-10-29 01:06:51 +02:00
Robert Haschke
e686f49d3e publish introspection data
- use Repository<T>'s for InterfaceState and SolutionBase to store
  mappings from ID to actual T*
- task state only publishes IDs
- services allow to request contents
2017-10-29 01:06:51 +02:00
Robert Haschke
cfe8086f29 introspection message definitions 2017-10-29 01:06:51 +02:00
Robert Haschke
a32007613e renamed subtask -> stage 2017-10-16 09:24:21 +02:00
Robert Haschke
1b1a82f7c8 simplified SubTask API
- moved interface flags to private implementation
- moved newInputState() / newOutputState to private implementation
- directly implement sendBackward()/sendForward()
- removed scene_, planner_ from SubTaskPrivate
  ... replaced by init(scene) call
- renamings
  - array_type -> container_type
  - ...AnyWay -> ...EitherWay
  - input -> start
  - output -> end
2017-10-11 23:34:49 +02:00
Robert Haschke
bb06eda33c containers
- allow hierarchical organization of stages (serially for now)
- validate correctness of tree (at composition time, i.e. runtime)
- derive Task from SerialContainer
- fix pimpl_func(), PRIVATE_CLASS declaration in "public" section to allow access in tests
2017-10-04 00:11:22 +02:00
Robert Haschke
6a1eacb315 make headers visible in qtcreator 2017-09-30 22:10:51 +02:00
Robert Haschke
6d10f7e835 moved plan publishing into debug.cpp 2017-09-28 20:35:44 -07:00
v4hn
76114d5fbd split up build into subfolders for tests/demos 2017-03-07 15:04:42 +01:00
v4hn
67487bf177 add test_plan_cartesian_forward 2017-03-05 22:58:46 +01:00
v4hn
70145aae29 draft implementation of cartesian_position_motion - one way only for the moment 2017-03-04 00:08:52 +01:00
v4hn
6e5308740b first incomplete version of GenerateGraspPose 2017-03-02 00:40:51 +01:00
v4hn
c77d9106a6 introduce more interfaces / Gripper forward planning now works 2017-03-01 15:19:30 +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
bb1d072418 initial commit
add a test binary for later use.
2017-02-27 11:49:22 +01:00