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Rework execution #459

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Rework execution #459

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Commits on Mar 10, 2023

  1. Move Task::execute() to free function in execution.h

    @rhaschke
    rhaschke committed Mar 10, 2023
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  2. Fix deprecation warning

    @rhaschke
    rhaschke committed Mar 10, 2023
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  3. Add SolutionBase::visitSubTrajectories()

    @rhaschke
    rhaschke committed Mar 10, 2023
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Commits on Mar 13, 2023

  1. execute(SolutionBase, MoveItCpp)

    @rhaschke
    rhaschke committed Mar 13, 2023
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Commits on Mar 23, 2023

  1. own PlanExecution 

    - Drop trajectory unwinding (should be handled elsewhere)
- Allow multiple start+end effects
- Gracefully handle NULL RobotTrajectories
    @rhaschke
    rhaschke committed Mar 23, 2023
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  2. workaround for INVALID_GOAL on zero-duration trajectory 

    See moveit/moveit#3362 for an upstream fix.it->trajectory
    @rhaschke
    rhaschke committed Mar 23, 2023
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  3. Turn ExecutableMotionPlan and effects into std::list 

    ... to allow remembering iterators into those lists
    @rhaschke
    rhaschke committed Mar 23, 2023
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  4. Preempt running trajectories before pushing new ones

    @rhaschke
    rhaschke committed Mar 23, 2023
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