aikido:enhance/Dubins

Branch merges

Related source package recipes

No recipes using this branch. (?)

Create packaging recipe

Related snap packages

Related charm recipes

df70337... by Ajinkya R Kamat <email address hidden> on 2018-07-20

Test Vectors for Interpolate and Distance passing

f05e40b... by Sherdil Niyaz <email address hidden> on 2018-07-11

Fix issues discovered during demo. (#442)

* Test with COnfitoConf and seems to work!

* Add getTrajectoryPostProcessor() method to ConcreteRobot class.

* Make ConfigurationToEndEffectorOffset and ConfigurationToTSR problems also use ScopedState internally.

* HACK: Make ConfigurationToEndEffectorOffset getDirection() method return bodyNode direction if passed direction was zero vector.

* Fix ConfigurationToConfiguration_to_ConfigurationToTSR adapter now that problems can store a cloned, scoped version of the passed state.

* HACK: Fix hack for returning current BN direction in Offset problem (for moving straight).

* HACK: Get around HERB hand BN not being in arm metaSkeleton, and nullptr RNG.

* HACK: Update hacks to work with MAGI.

* HACK: Got left out of last commit.

* HACK: Cap samples in DART TSR adapter. Use better random seed.

* Make getTrajectoryPostProcessor take needed args.

* Make getTrajectoryPostProcessor take constraint checking params.

* Do BN check in TSR adapter correctly by using the skeleton.

* Add RNG to ConfigurationToConfiguration_to_ConfigurationToTSR.

* Remove startState from DART problems. Need to fix tests.

* Add DART ConfigurationToConfigurationPlanner.

* Add new adapter that turns non-DART ConfTOConf planner into a DART one.

* Update tests for removing startState from DART problems.

* Run make format on last commit.

* Fix tests from adding RNG to TSR adapter.

* Fix naming ambiguity that made TSR adapter not build.

* Use boost:none instead of zero vector to get straight direction in offset problem.

* Make Offset problem take optional as reference.

* Clean up Offset problem comments and restore zero vector check.

* Remove TSR adapter hack to prevent inf loops.

* HACK BODY NODE FALLS OFF

* HACK HACK HACK.

* HACK HACK JH

* HACK: IKJDSHFKJDSHFKJDSHFKDSHFLJDHFSKJHDSFKJDHF

* Revert "HACK: IKJDSHFKJDSHFKJDSHFKDSHFLJDHFSKJHDSFKJDHF"

This reverts commit 40482d34665066af4f79217c72c83fe180b67f2d.

* Revert "HACK HACK JH"

This reverts commit 42cd6554cf210645bbbfa6ead0c78a492e46a88d.

* Revert "HACK HACK HACK."

This reverts commit 85eee6653e329e661877ed780ecd39a71ef0f910.

* Revert "HACK BODY NODE FALLS OFF"

This reverts commit 40b120754b0c1c7a6c6bc24139428afbd2a8dec4.

* Update ConfigurationToEndEffectorOffset to use multiple constructors.

* Update getStartState in ConfigurationToEndEffectorOffset.

* Update ConfigurationToEndEffectorPose to use two constructors and restore getStartState. Fix state passing in ConfigurationToEndEffectorOffset.

* Update ConfigurationToTSR to use multiple constructors and restore getStartState.

* Update TSR adapter to just use getStartState().

* Pass start state to VFP.

* Revert "Update TSR adapter to just use getStartState()."

This reverts commit 976b4434b41027bbbbf1a69df93247336649287d.

* UpdateDART planning problems to not return dangling pointers with getStateState().

* Draft dart/ConfigurationToConfiguration.hpp

* Draft dart/ConfigurationToConfiguration.cpp

* Make adapter use right ConfigToConfig Problem.

* Trim fat in new getTrajectoryPostProcessor method.

* Fix tests with what we have now.

* Run make format.

* Make Planner take RNG.

* Add rng arg to SingleProblemPlanner and ConfigurationToConfigurationPlanner constructors to enable future OMPL planners to take RNG.

* Use delegate RNG in TSR adapter. Make tests build again.

* Move getEndEffectorDirection into robot/util

* Create planner/dart/util and put getEndEffectorDirection there instead.

* Change Planner to take raw RNG pointer, and getRng to return this raw pointer.

* Respond to nits.

* Fix RNG destruction in Planner class.

* Repond to latest review comments.

* Remove some std::moves to fix RVO build issue with OSX.

* Nab one std::move missed by the last commit..

* Use getState in DART planning problems.

* Remove uneeded aikido::'s in ConfigurationToConfiguration_to_ConfigurationToConfiguration.

* Run make format.

* Respond to all but one of Gilwoo's nits.

* Respond to some more nits.

fe09cbb... by Jeongseok Lee <email address hidden> on 2018-06-09

Reflect package name updates (aikido0 -> aikido)

f7ebc5b... by Brian Hou <email address hidden> on 2018-05-30

Planning adapters (#437)

* Add MetaSkeleton to ConfigurationToEndEffectorOffsetPlanner.

* Add more DART planners.

Add ConfigurationToTSRPlanner.
Add DART version of ConfigurationToConfigurationPlanner.

* Add max samples to ConfigurationToTSR problem.

* Implement single-problem PlannerAdapter class.

* Implement single-problem DartPlannerAdapter class.

* Add initial implementation of ConfigurationToConfiguration_to_ConfigurationToTSR adapter.

* Format code.

* Update ConfigurationToEndEffectorPose to MetaSkeletonStateSpace.

* Write DartSingleProblemPlanner. Change ConfigurationToConfigurationPlanner.

* Update the other two DART planners to use DartSingleProblemPlanner.

* Rename dart::DartSingleProblemPlanner to dart::SingleProblemPlanner.

* Fix formatting.

[skip ci]

* Update PlannerAdapter.

Remove DartPlannerAdapter class in favor of supporting conversion from non-DART
planners to DART planners in PlannerAdapter class.

* Respond to nits from JS.

* Make SequenceMetaPlanner use CompositePlanner constructor.

* Respond to final nit from JS.

* Update CHANGELOG

* Add that line back in CHANGELOG.md

a89dd3c... by Brian Hou <email address hidden> on 2018-05-24

Move MetaSkeleton-dependent problems to aikido::planner::dart. (#432)

* Move MetaSkeleton-dependent problems and planners.

* Remove planner_dart component.

21fc7a2... by Jeongseok Lee <email address hidden> on 2018-05-23

Fix compilation error in robot/util.cpp (#436)

24618c5... by Sherdil Niyaz <email address hidden> on 2018-05-22

Refactor VFP with new Planner API (#426)

e7b3758... by Sherdil Niyaz <email address hidden> on 2018-05-18

Const changes to support new VFP Planner API refactor. (#429)

* Make types play nice by changing old VFP code, but problem has now been pushed deeper into AIKIDO.

* Propograte const-ness to more of AIKIDO, but not done yet.

* Even more const-ing. Builds more, but still not all the way.

* Add const-ness to some OMPL stuff. Bumped issues back to VFP code.

* Make VFP Offset changes build. Needed to muck around with Robot class.

* Yet more const-ing to make tests build.

* Tests now build as well.

* Clean up createDistanceMetricFor_impl code.

* Add file left out from last commit

* Clean up JointStateSpaceHelpers code.

* Run `make format`.

* Respond to Brian's comments.

* Update CHANGELOG.md.

6f331cd... by Jeongseok Lee <email address hidden> on 2018-05-18

Add cloning functionality to StateSpace (#422)

* Fixing const-correctness in state space

* Fixing const-correctness of StateHandle

* Fix implicit conversion of StateHandle to State*

* Undo unnecessary changes

* Remove incorrect comment

* Add clone to StateSpace

* Format code

* Update changelog

* Update CHANGELOG.md

24b3fc5... by Jeongseok Lee <email address hidden> on 2018-05-18

Update README.md