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[WIP] Introduce IK solver with path computation ability #2

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[WIP] Introduce IK solver with path computation ability #2

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@livanov93 livanov93 commented May 5, 2022

PR info:

  • add solver which finds IK solution and does cartesian retrieval path computation

livanov93 added 28 commits May 5, 2022 11:55
@livanov93
Add cartesian interpolator ik solver.
6120003
@livanov93
Inherit from MoveitIKSolver.
430df45
@livanov93
Prepare cartesian path computation.
17af205
@livanov93
Successfully tested demo with CartesianRetrievalIKSolver.
9f1020f
@livanov93
Extend record. Add traj pub. Format.
19d00a6
@livanov93
Revert omp parallel. Format.
b79cd4f
@livanov93
Cleanup. Coloration update. Record extension.
09ec3a3
@livanov93
Add other default parameters.
ffee2c4
@livanov93
Add trajectory waypoints visualization.
0b08a8e
@livanov93
Make sphere diameter a constant/
100a4f8
@livanov93
Fix trajectory visualization. Add path visualization.
77ee694
@livanov93
Add initial seed state parameter.
02b2283
@livanov93
Simplify initial reach study.
ef5f6f1
@livanov93
Fix trajectory filling. Make cartesian ik solver return empty.
103e6b0
@livanov93
Fix reach packaging.
ba2409e
@livanov93
Make record trajectories simpler.
d750768
@livanov93
Update ik plugins to use new record.
3d2a49b
@livanov93
Relax constraints on cartesian retrieval.
39358a8
@livanov93
IK helper.
6f38475
@livanov93
Retrieved fraction into message.
86618db
@livanov93
Support union visualization. Add fraction visualization.
07411b5
@livanov93
Visualize reached only records.
e3f5961
@livanov93
Use search tree.
54119fc
@livanov93
Initialize fraction.
fefa707
@livanov93
Initialize total joint distance.
a1eba1f
@livanov93
Initialize total joint distance.
c4b3bd3
@livanov93
Update formatting.
a9f6951
@livanov93
Visualize collision if keep running flag is on.
1d0cf81
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@livanov93