Merge from kolinguo/MPlib #78
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Rewrite function slightly
Copied f27684a,4d9ac4b,081f4f2,e290a6b from kolinguo/MPlib PlanningWorld changes: * Replace updateAttached* methods with attach* methods * Replace updatePointCloud() method with addPointCloud() method * setQpos with articulation name instead of index * Add request to collide() method * Remove redundant data members * Replace getArticulations() with getPlannedArticulations() ArticulatedModel changes: * Add name_ private data member with getter/setter methods OMPLPlanner changes: * Replace getArticulations() with getPlannedArticulations() New features: * Add AttachedBody class (with methods to update its global pose)
Copied 6a302d6 from kolinguo/MPlib * Rename Planner.update_point_cloud()'s radius to resolution
Copied 0769727 from kolinguo/MPlib
…ld methods Copied 0f45930 from kolinguo/MPlib
Copied b282897 from kolinguo/MPlib * ::pinocchio::randomConfiguration(model_) uses std::rand() * Eigen uses std::rand() * ompl uses std::mt19937, can be set with ::ompl::RNG::setSeed(seed) * fcl uses std::mt19937, can be set with ::fcl::RNG<S>::setSeed(seed)
Copied c4e7efa from kolinguo/MPlib * add planner.acm (AllowedCollisionMatrix) * Update check_joint_limit() with short-circuit checking * Refactor IK() and add return_closest parameter to return qpos closest to start_qpos * Minor refactor plan() and plan_screw()
Copied 965c79a,e290a6b from kolinguo/MPlib RRTstar planner part is not copied * Add PlanningWorld methods to get minimum distance to collision * Add WorldDistanceResult struct
Copied a025b87 from kolinguo/MPlib
…odel Copied 8db5058 from kolinguo/MPlib
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TODO: @Lexseal
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Copied 16450be,4c3b7aa,c4fb706,2c83a43 from kolinguo/MPlib
Copied 4b851d6 from kolinguo/MPlib
Lexseal
reviewed
Apr 1, 2024
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Will run and fix examples tmr since don't have GUI right now. Will also fix the typos and such later |
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Thanks for going over them! Let me know when you finish updating the examples |
Lexseal
reviewed
Apr 3, 2024
| void PlanningWorldTpl<S>::attachObject(const std::string &name, | ||
| const std::string &art_name, int link_id, | ||
| const Vector7<S> &pose) { | ||
| auto obj = normal_object_map_.at(name); |
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I think maybe there is an even simpler user interface. Suppose the object is already in the scene, we can just ask the user to provide the name of the object and potentially the link the object is attached to. Then, we calculate the relative pose btw the link and the object.
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Other than the above comment, all examples are fixed and this is good to go! |
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From commit f27684a to 4b851d6 a total of
39 - 7 = 32commits.Except for the following commits:
New planners include PRMstar, LazyPRMstar, RRTsharp, RRTXstatic, InformedRRTstar