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* Rename pruneInterface() -> resolveInterface() * Rename accepted (interface) -> expected * Improve exception strings
54 lines
1.7 KiB
Org Mode
54 lines
1.7 KiB
Org Mode
* scheduling
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There are 2 levels of scheduling:
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- choosing which state or state pair should be scheduled for execution
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- choosing which stage should be scheduled for execution
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Main goal is to find small-cost solutions fast.
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To this end, we need to find a solution at all, i.e. connect start to end.
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Second, we prefer small-cost solutions.
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First sort by length of trajectory, second by sum of trajectory costs.
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** approach
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- scheduling priority for stage (default / assigned by user)
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- fallback: sort stages by priority
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- evaluate success rate
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- expected costs of solutions
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- expected computing time
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- Container::schedule() -> return ordered list of stages to execute
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* containers / interfaces
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Basic stages have unique solutions connecting start-end.
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Containers allow for several solutions connecting start-end:
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- serial: several pathes might exist
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- parallel: inherent
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* notation
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push vs pull connections
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* TODO
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** modify-ps
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- std::function API
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- replace templates with sfniae
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** eef collision
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- requires modification in MoveIt
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- disable warnings vs. only consider relevant links (separate function?)
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** MoveTo / MoveRelative
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- interface: pass goal constraints
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- fill goal constraints during setup?
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requires transforms to be specified relative to current robot pose
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** properties
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- fix plan_pick_pa10: forward grasp property
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- global type registry for serialization/deserialization functions
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- use bits as enums to allow for configureInitFrom(PARENT | INTERFACE)
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** incremental GraspPoseGenerator
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in pending_ list, store the current angular value
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** TaskModels
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- move scene_, display_context_ to BaseTaskModel
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- use registered property creators for RemoteTaskModel too
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- deserialize property
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- call creator function
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