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[Personalrobots-commit] SF.net SVN: personalrobots:[3553] pkg/trunk
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From: <is...@us...> - 2008-08-25 17:38:34
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Revision: 3553
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=3553&view=rev
Author: isucan
Date: 2008-08-25 17:38:37 +0000 (Mon, 25 Aug 2008)
Log Message:
-----------
renamed group flag 'plan' to 'planning', added example group for self collision
Modified Paths:
--------------
pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp
pkg/trunk/motion_planning/plan_kinematic_path/src/plan_kinematic_path.cpp
pkg/trunk/motion_planning/planning_models/src/planning_models/kinematic.cpp
pkg/trunk/robot_descriptions/wg_robot_description/pr2/groups.xml
pkg/trunk/world_models/world_3d_map/src/world_3d_map.cpp
Modified: pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp
===================================================================
--- pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp 2008-08-25 17:32:56 UTC (rev 3552)
+++ pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp 2008-08-25 17:38:37 UTC (rev 3553)
@@ -291,7 +291,7 @@
if (group)
{
const robot_desc::URDF::Map &data = group->data;
- std::map<std::string, std::string> info = data.getMapTagValues("plan", "RRT");
+ std::map<std::string, std::string> info = data.getMapTagValues("planning", "RRT");
if (info.find("range") != info.end())
{
@@ -334,7 +334,7 @@
if (group)
{
const robot_desc::URDF::Map &data = group->data;
- std::map<std::string, std::string> info = data.getMapTagValues("plan", "LazyRRT");
+ std::map<std::string, std::string> info = data.getMapTagValues("planning", "LazyRRT");
if (info.find("range") != info.end())
{
Modified: pkg/trunk/motion_planning/plan_kinematic_path/src/plan_kinematic_path.cpp
===================================================================
--- pkg/trunk/motion_planning/plan_kinematic_path/src/plan_kinematic_path.cpp 2008-08-25 17:32:56 UTC (rev 3552)
+++ pkg/trunk/motion_planning/plan_kinematic_path/src/plan_kinematic_path.cpp 2008-08-25 17:38:37 UTC (rev 3553)
@@ -101,7 +101,7 @@
{
robot_srvs::KinematicPlanState::request req;
- req.params.model_id = "pr2::leftArm";
+ req.params.model_id = "pr2::left_arm";
req.params.distance_metric = "L2Square";
req.threshold = 0.01;
req.interpolate = 1;
@@ -127,7 +127,7 @@
{
robot_srvs::KinematicPlanState::request req;
- req.params.model_id = "pr2::rightArm";
+ req.params.model_id = "pr2::right_arm";
req.params.distance_metric = "L2Square";
req.threshold = 0.01;
req.interpolate = 1;
@@ -176,7 +176,7 @@
{
robot_srvs::KinematicPlanLinkPosition::request req;
- req.params.model_id = "pr2::leftArm";
+ req.params.model_id = "pr2::left_arm";
req.params.distance_metric = "L2Square";
req.params.planner_id = "RRT";
req.interpolate = 1;
Modified: pkg/trunk/motion_planning/planning_models/src/planning_models/kinematic.cpp
===================================================================
--- pkg/trunk/motion_planning/planning_models/src/planning_models/kinematic.cpp 2008-08-25 17:32:56 UTC (rev 3552)
+++ pkg/trunk/motion_planning/planning_models/src/planning_models/kinematic.cpp 2008-08-25 17:38:37 UTC (rev 3553)
@@ -247,7 +247,7 @@
model.getGroupNames(allGroups);
m_groups.clear();
for (unsigned int i = 0 ; i < allGroups.size() ; ++i)
- if (model.getGroup(allGroups[i])->hasFlag("plan"))
+ if (model.getGroup(allGroups[i])->hasFlag("planning"))
m_groups.push_back(rname + "::" + allGroups[i]);
m_groupsMap.clear();
for (unsigned int i = 0 ; i < m_groups.size() ; ++i)
@@ -362,7 +362,7 @@
std::vector<std::string> gnames;
model.getGroupNames(gnames);
for (unsigned int i = 0 ; i < gnames.size() ; ++i)
- if (model.getGroup(gnames[i])->hasFlag("plan"))
+ if (model.getGroup(gnames[i])->hasFlag("planning"))
joint->inGroup.push_back(urdfLink->inGroup[i]);
for (unsigned int i = 0 ; i < joint->inGroup.size() ; ++i)
Modified: pkg/trunk/robot_descriptions/wg_robot_description/pr2/groups.xml
===================================================================
--- pkg/trunk/robot_descriptions/wg_robot_description/pr2/groups.xml 2008-08-25 17:32:56 UTC (rev 3552)
+++ pkg/trunk/robot_descriptions/wg_robot_description/pr2/groups.xml 2008-08-25 17:38:37 UTC (rev 3553)
@@ -4,7 +4,7 @@
<!-- Define the parts of the robot that the robot's scanners can see -->
- <group name="self_see">
+ <group name="self_see" flags="mapping">
upperarm_roll_left
upperarm_roll_right
elbow_flex_left
@@ -21,16 +21,21 @@
finger_r_right
</group>
+ <!-- Define groups to check for self collision -->
+
+ <group name="left_arm" flags="self_collision">
+ elbow_flex_left
+ base
+ </group>
-
- <!-- Groups needed for motion planning (flag contains "plan")
+ <!-- Groups needed for motion planning (flag contains "planning")
and for kinematics (flag contains "kinematic") -->
- <group name="base" flags="plan">
+ <group name="base" flags="planning">
base
</group>
- <group name="leftArm" flags="plan kinematic">
+ <group name="left_arm" flags="planning kinematic">
shoulder_pan_left
shoulder_pitch_left
upperarm_roll_left
@@ -39,16 +44,16 @@
wrist_flex_left
gripper_roll_left
- <map name="RRT" flag="plan">
+ <map name="RRT" flag="planning">
<elem key="range" value="0.75" />
</map>
- <map name="LazyRRT" flag="plan">
+ <map name="LazyRRT" flag="planning">
<elem key="range" value="0.75" />
</map>
</group>
- <group name="rightArm" flags="plan kinematic">
+ <group name="right_arm" flags="planning kinematic">
shoulder_pan_right
shoulder_pitch_right
@@ -58,16 +63,16 @@
wrist_flex_right
gripper_roll_right
- <map name="RRT" flag="plan">
+ <map name="RRT" flag="planning">
<elem key="range" value="0.75" />
</map>
- <map name="LazyRRT" flag="plan">
+ <map name="LazyRRT" flag="planning">
<elem key="range" value="0.75" />
</map>
</group>
- <group name="base+leftArm" flags="plan">
+ <group name="base_left_arm" flags="planning">
base
torso
shoulder_pan_left
@@ -79,7 +84,7 @@
gripper_roll_left
</group>
- <group name="base+rightArm" flags="plan">
+ <group name="base_right_arm" flags="planning">
base
torso
shoulder_pan_right
@@ -91,7 +96,7 @@
gripper_roll_right
</group>
- <group name="arms" flags="plan">
+ <group name="arms" flags="planning">
shoulder_pan_left
shoulder_pitch_left
upperarm_roll_left
@@ -108,7 +113,7 @@
gripper_roll_right
</group>
- <group name="base+arms" flags="plan">
+ <group name="base_arms" flags="planning">
base
torso
shoulder_pan_left
Modified: pkg/trunk/world_models/world_3d_map/src/world_3d_map.cpp
===================================================================
--- pkg/trunk/world_models/world_3d_map/src/world_3d_map.cpp 2008-08-25 17:32:56 UTC (rev 3552)
+++ pkg/trunk/world_models/world_3d_map/src/world_3d_map.cpp 2008-08-25 17:38:37 UTC (rev 3553)
@@ -271,7 +271,7 @@
void addSelfSeeBodies(void)
{
robot_desc::URDF::Group *ss = m_urdf->getGroup("self_see");
- if (ss)
+ if (ss && ss->hasFlag("mapping"))
{
for (unsigned int i = 0 ; i < ss->linkNames.size() ; ++i)
{
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