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Update due to changes in trajopt cost/constraint naming #4

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3 changes: 2 additions & 1 deletion descartes_light/src/descartes_light/collision_checker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -13,9 +13,10 @@ descartes_light::TesseractCollision::TesseractCollision(tesseract::BasicEnvConst
}

contact_manager_->setActiveCollisionObjects(kin_group_->getLinkNames());
contact_manager_->setContactDistanceThreshold(0);
contact_manager_->setIsContactAllowedFn(std::bind(&TesseractCollision::isContactAllowed, this, std::placeholders::_1,
std::placeholders::_2));
}
}

bool descartes_light::TesseractCollision::validate(const double* pos, std::size_t size)
{
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8 changes: 4 additions & 4 deletions workcell1/workcell1_demos/src/workcell1_demo.cpp
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Expand Up @@ -113,19 +113,19 @@ trajopt::TrajOptProbPtr makeProblem(const hybrid_planning_common::EnvironmentDef
pci.init_info.data = hybrid_planning_common::jointTrajectoryToTrajopt(seed);

// Populate Cost Info
auto jv = std::make_shared<trajopt::JointVelCostInfo>();
auto jv = std::make_shared<trajopt::JointVelTermInfo>();
jv->coeffs = std::vector<double>(dof, 2.5);
jv->name = "joint_vel";
jv->term_type = trajopt::TT_COST;
pci.cost_infos.push_back(jv);

auto ja = std::make_shared<trajopt::JointAccCostInfo>();
auto ja = std::make_shared<trajopt::JointAccTermInfo>();
ja->coeffs = std::vector<double>(dof, 5.0);
ja->name = "joint_acc";
ja->term_type = trajopt::TT_COST;
pci.cost_infos.push_back(ja);

auto collision = std::make_shared<trajopt::CollisionCostInfo>();
auto collision = std::make_shared<trajopt::CollisionTermInfo>();
collision->name = "collision";
collision->term_type = trajopt::TT_COST;
collision->continuous = false;
Expand Down Expand Up @@ -156,7 +156,7 @@ trajopt::TrajOptProbPtr makeProblem(const hybrid_planning_common::EnvironmentDef
// Populate Constraints
for (std::size_t i = 0; i < pass.size(); ++i)
{
auto pose = std::make_shared<trajopt::StaticPoseCostInfo>();
auto pose = std::make_shared<trajopt::CartPoseTermInfo>();
pose->term_type = trajopt::TT_CNT;
pose->name = "waypoint_cart_" + std::to_string(i);
pose->link = "sander_tcp";
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8 changes: 4 additions & 4 deletions workcell2/workcell2_demos/src/workcell2_demo.cpp
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Expand Up @@ -113,19 +113,19 @@ trajopt::TrajOptProbPtr makeProblem(const hybrid_planning_common::EnvironmentDef
pci.init_info.data = hybrid_planning_common::jointTrajectoryToTrajopt(seed);

// Populate Cost Info
auto jv = std::make_shared<trajopt::JointVelCostInfo>();
auto jv = std::make_shared<trajopt::JointVelTermInfo>();
jv->coeffs = std::vector<double>(dof, 2.5);
jv->name = "joint_vel";
jv->term_type = trajopt::TT_COST;
pci.cost_infos.push_back(jv);

auto ja = std::make_shared<trajopt::JointAccCostInfo>();
auto ja = std::make_shared<trajopt::JointAccTermInfo>();
ja->coeffs = std::vector<double>(dof, 5.0);
ja->name = "joint_acc";
ja->term_type = trajopt::TT_COST;
pci.cost_infos.push_back(ja);

auto collision = std::make_shared<trajopt::CollisionCostInfo>();
auto collision = std::make_shared<trajopt::CollisionTermInfo>();
collision->name = "collision";
collision->term_type = trajopt::TT_COST;
collision->continuous = false;
Expand Down Expand Up @@ -156,7 +156,7 @@ trajopt::TrajOptProbPtr makeProblem(const hybrid_planning_common::EnvironmentDef
// Populate Constraints
for (std::size_t i = 0; i < pass.size(); ++i)
{
auto pose = std::make_shared<trajopt::StaticPoseCostInfo>();
auto pose = std::make_shared<trajopt::CartPoseTermInfo>();
pose->term_type = trajopt::TT_CNT;
pose->name = "waypoint_cart_" + std::to_string(i);
pose->link = "sander_tcp";
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8 changes: 4 additions & 4 deletions workcell3/workcell3_demos/src/workcell3_demo.cpp
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Expand Up @@ -77,19 +77,19 @@ trajopt::TrajOptProbPtr makeProblem(const hybrid_planning_common::EnvironmentDef
pci.init_info.data = hybrid_planning_common::jointTrajectoryToTrajopt(seed);

// Populate Cost Info
auto jv = std::make_shared<trajopt::JointVelCostInfo>();
auto jv = std::make_shared<trajopt::JointVelTermInfo>();
jv->coeffs = std::vector<double>(dof, 2.5);
jv->name = "joint_vel";
jv->term_type = trajopt::TT_COST;
pci.cost_infos.push_back(jv);

auto ja = std::make_shared<trajopt::JointAccCostInfo>();
auto ja = std::make_shared<trajopt::JointAccTermInfo>();
ja->coeffs = std::vector<double>(dof, 10.0);
ja->name = "joint_acc";
ja->term_type = trajopt::TT_COST;
pci.cost_infos.push_back(ja);

auto collision = std::make_shared<trajopt::CollisionCostInfo>();
auto collision = std::make_shared<trajopt::CollisionTermInfo>();
collision->name = "collision";
collision->term_type = trajopt::TT_COST;
collision->continuous = false;
Expand All @@ -112,7 +112,7 @@ trajopt::TrajOptProbPtr makeProblem(const hybrid_planning_common::EnvironmentDef
{
// NOTE that here we are using "PoseCostInfo" instead of "StaticPoseCostInfo" as seen in
// examples 1 & 2. This is because the cell
auto pose = std::make_shared<trajopt::PoseCostInfo>();
auto pose = std::make_shared<trajopt::DynamicCartPoseTermInfo>();
pose->term_type = trajopt::TT_CNT;
pose->name = "waypoint_cart_" + std::to_string(i);
pose->link = "positioner";
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8 changes: 4 additions & 4 deletions workcell4/workcell4_demos/src/workcell4_demo.cpp
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Expand Up @@ -82,20 +82,20 @@ trajopt::TrajOptProbPtr makeProblem(const hybrid_planning_common::EnvironmentDef
pci.init_info.data = hybrid_planning_common::jointTrajectoryToTrajopt(seed);

// Populate Cost Info
auto jv = std::make_shared<trajopt::JointVelCostInfo>();
auto jv = std::make_shared<trajopt::JointVelTermInfo>();
jv->coeffs = std::vector<double>(dof, 1.0);
jv->coeffs.back() = 0.0;
jv->name = "joint_vel";
jv->term_type = trajopt::TT_COST;
pci.cost_infos.push_back(jv);

auto ja = std::make_shared<trajopt::JointAccCostInfo>();
auto ja = std::make_shared<trajopt::JointAccTermInfo>();
ja->coeffs = std::vector<double>(dof, 10.0);
ja->name = "joint_acc";
ja->term_type = trajopt::TT_COST;
pci.cost_infos.push_back(ja);

auto collision = std::make_shared<trajopt::CollisionCostInfo>();
auto collision = std::make_shared<trajopt::CollisionTermInfo>();
collision->name = "collision";
collision->term_type = trajopt::TT_COST;
collision->continuous = false;
Expand All @@ -115,7 +115,7 @@ trajopt::TrajOptProbPtr makeProblem(const hybrid_planning_common::EnvironmentDef
// Populate Constraints
for (std::size_t i = 0; i < pass.size(); ++i)
{
auto pose = std::make_shared<trajopt::PoseCostInfo>();
auto pose = std::make_shared<trajopt::DynamicCartPoseTermInfo>();
pose->term_type = trajopt::TT_CNT;
pose->name = "waypoint_cart_" + std::to_string(i);
pose->link = "positioner";
Expand Down