MTC功能包
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v4hn 2153237643 clang-format: readability-identifier-naming
Probably the most invasive format patch, also changing some internal API.

I deliberately disabled ClassCase and MethodCase checks for the moment
to avoid public API changes in this patch set.
2020-06-11 11:03:50 +02:00
capabilities clang-format: readability-container-size-empty 2020-06-11 11:03:50 +02:00
core clang-format: readability-identifier-naming 2020-06-11 11:03:50 +02:00
demo clang-format: readability-identifier-naming 2020-06-11 11:03:50 +02:00
msgs bump cmake version 2020-04-03 12:14:57 +02:00
rviz_marker_tools bump cmake version 2020-04-03 12:14:57 +02:00
visualization clang-format: readability-identifier-naming 2020-06-11 11:03:50 +02:00
.clang-format Introduce clang-format (#102) 2019-07-18 11:04:35 +02:00
.clang-tidy clang-format: readability-identifier-naming 2020-06-11 11:03:50 +02:00
.gitignore add gitignore for vim swp 2017-02-28 11:12:18 +01:00
.rosinstall Demo package for tutorial (#104) 2019-10-08 17:30:45 +02:00
.travis.yml Travis: switch to melodic-source docker container 2020-04-07 23:48:08 +02:00
codecov.yaml Use MoveIt's codecov configuration (#173) 2020-06-11 10:43:01 +02:00
LICENSE.txt add full license information 2017-12-12 21:24:32 +01:00
README.md README: clarify that the MTC is usable (#88) 2019-05-02 14:55:34 +02:00

MoveIt Task Constructor Framework

The Task Constructor framework provides a flexible and transparent way to define and plan actions that consist of multiple interdependent subtasks. It draws on the planning capabilities of MoveIt to solve individual subproblems in black-box planning stages. A common interface, based on MoveIt's PlanningScene is used to pass solution hypotheses between stages. The framework enables the hierarchical organization of basic stages using containers, allowing for sequential as well as parallel compositions. For more details, please refer to the associated ICRA 2019 publication.

Roadmap

Feedback and contributions are very welcome.

The current roadmap is to replace MoveIt's old pick&place pipeline and provide a transparent mechanism to enable and debug complex motion sequences.