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.
