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Print a collision summary to status of failed contact check #543

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Print a collision summary to status of failed contact check #543

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fa4bd7a
Print a collision summary to status of failed contact check
marrts Dec 10, 2024
45b4a92
Switch to string for collision summary
marrts Dec 18, 2024
d65e9da
Update contact summary method name
marrts Dec 18, 2024
2b56162
Merge branch 'master' into contact_map_coll_summary
Levi-Armstrong Dec 21, 2024
a90d2c3
Merge branch 'master' into contact_map_coll_summary
Levi-Armstrong Dec 21, 2024
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13 changes: 12 additions & 1 deletion tesseract_task_composer/planning/src/nodes/continuous_contact_check_task.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -160,7 +160,18 @@ ContinuousContactCheckTask::runImpl(TaskComposerContext& context, OptionalTaskCo
if (contactCheckProgram(contacts, *manager, *state_solver, ci, cur_composite_profile->config))
{
info->status_code = 0;
info->status_message = "Results are not contact free for process input: " + ci.getDescription();
std::stringstream ss;
ss << "Results are not contact free for process input: " << ci.getDescription() << "\n";
// Iterate over each contact and add collision summary if not empty
for (std::size_t i = 0; i < contacts.size(); ++i)
{
const auto& contact_map = contacts[i];
if (!contact_map.empty())
{
ss << contact_map.getSummary() << "\n";
}
}
Comment on lines +168 to +173
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I could see this blowing up. Should we just print the first contact summary?

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The way I have it, it's up to the user how much is printed. If they have contact check set to FIRST then they'll only get one. If it is set to ALL then they'll potentially get a long novel printed out, which is maybe useful for them.

info->status_message = ss.str();
CONSOLE_BRIDGE_logInform("%s", info->status_message.c_str());

// Save space
Expand Down
13 changes: 12 additions & 1 deletion tesseract_task_composer/planning/src/nodes/discrete_contact_check_task.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -156,7 +156,18 @@ std::unique_ptr<TaskComposerNodeInfo> DiscreteContactCheckTask::runImpl(TaskComp
std::vector<tesseract_collision::ContactResultMap> contacts;
if (contactCheckProgram(contacts, *manager, *state_solver, ci, cur_composite_profile->config))
{
info->status_message = "Results are not contact free for process input: " + ci.getDescription();
std::stringstream ss;
ss << "Results are not contact free for process input: " << ci.getDescription() << "\n";
// Iterate over each contact and add collision summary if not empty
for (std::size_t i = 0; i < contacts.size(); ++i)
{
const auto& contact_map = contacts[i];
if (!contact_map.empty())
{
ss << contact_map.getSummary() << "\n";
}
}
info->status_message = ss.str();
CONSOLE_BRIDGE_logInform("%s", info->status_message.c_str());

// Save space
Expand Down
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