Filter by suction voxel overlap in parallel #81
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added 8 commits
December 27, 2019 16:13
Dale-Koenig
reviewed
Jan 20, 2020
| @@ -413,20 +430,19 @@ class GraspPipelineDemo | |||
| double& y_width, double& z_height) | |||
| { | |||
| // Generate random cuboid | |||
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Should this be updated? It seems only the polar angle is random now
| @@ -111,7 +112,8 @@ struct IkThreadStruct | |||
| const planning_scene::PlanningScenePtr& planning_scene, Eigen::Isometry3d& link_transform, | |||
| std::size_t grasp_id, kinematics::KinematicsBaseConstPtr kin_solver, | |||
| const robot_state::RobotStatePtr& robot_state, double timeout, bool filter_pregrasp, bool visual_debug, | |||
| std::size_t thread_id, const std::string& grasp_target_object_id) | |||
| std::size_t thread_id, const std::string& grasp_target_object_id, | |||
| const moveit_visual_tools::MoveItVisualToolsPtr& visual_tools, double animation_speed) | |||
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animation_speed
I find it a bit confusing when code that is, as far as I can tell, purely used for debugging, is mandatory. Would prefer at least a default value that is obviously invalid, together with documenting how to use it.
| @@ -250,6 +264,7 @@ class GraspPipelineDemo | |||
| moveit_grasps::GraspCandidatePtr selected_grasp_candidate; | |||
| moveit_msgs::MotionPlanResponse pre_approach_plan; | |||
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| // return false; | |||
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Remove?
Seems like lots of dead code in this file overall.
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Various small improvements separated by commits.
Biggest change is to filter suction voxel by overlap in parallel.
Some small logging improvements.
Removing ACM entries after they are no longer "allowed"
and adding an error code to string method for filtering