New EffBox task map. #624
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New EffBox task map. #624
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wxmerkt
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wxmerkt
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VladimirIvan
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Jul 15, 2019
wxmerkt
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exotations/exotica_core_task_maps/include/exotica_core_task_maps/eff_box_constraint.h
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exotations/exotica_core_task_maps/include/exotica_core_task_maps/eff_box_constraint.h
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exotica_examples/resources/configs/example_ik_eff_box_constraint.xml
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wxmerkt
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Jul 16, 2019
| { | ||
| if (phi.rows() != TaskSpaceDim()) ThrowNamed("Wrong size of phi!"); | ||
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| Eigen::VectorXd e; |
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This allocated at every iteration. This is not great. Also you could make line 40 and 41 be one. Directly operate on Phi
wxmerkt
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Jul 17, 2019
wxmerkt
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Jul 17, 2019
| } | ||
| } | ||
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| const Eigen::VectorXd EffBox::GetLowerLimit() |
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This is the other kind of const... I meant EffBox::GetLowerLimit() const
wxmerkt
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Jul 17, 2019
I think all should be good to merge after travis ci goes green, builds and runs successfully as expected locally. |
wxmerkt
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Jul 17, 2019
wxmerkt
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wxmerkt
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Jul 17, 2019
| { | ||
| pub_markers_ = Server::Advertise<visualization_msgs::MarkerArray>("eff_box_objects", 1, true); | ||
| visualization_msgs::Marker md; // delete previous markers | ||
| md.action = visualization_msgs::Marker::DELETEALL; |
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This won't compile on older versions, make it = 3; and add a comment it corresponds to deleteall
wxmerkt
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Jul 17, 2019
wxmerkt
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Jul 18, 2019
* eff_upper -> eff_upper_ and similar for eff_lower * New functions GetLowerLimit and GetUpperLimit, both exposed to python
* EffBoxConstraint -> EffBox * Frame -> FrameWithBoxLimits
* EffBoxConstraint -> EFfBox * added const as per review * updated code to allow a different box constraint to be defined for every end-effector * new FrameWithBoxLimits initializer to allow box constraint for every end-effector * added todo * code formatting
* push_back -> emplace_back + reserve in instantiate * added assign scene function * use GetRootFrameName rather than assume world_frame
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I'm not sure what the issue is with second Travis CI checks.. @wxmerkt any ideas? |
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The issue was one of the four tests had a transient issue. But our pre-release tests are now timing out (build times are too long). Likely need to ask for an extension in Travis... |
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[task_maps] New task map.
[core] Initializer support for Eigen::Vector2d.
[examples] New example for new task map.