TODOs

[rhaschke]

Code cleanup

• [ ] consolidate code, remove old stuff
• [ ] plotting

GUI

• [x] saving + loading from/to yaml
• [ ] BUG: After loading/creating another project, created markers don't show up in rviz anymore
• [ ] marker: configurable frame_id
  • [x] remove hard-coded frame_id: https://github.com/ubi-agni/stack_of_tasks/pull/24/commits/c78d653192164407363ce05a3f6562b38e8c0442
  • [ ] make frame_id selectable from known (TF) frames (rviz needs to know them)
• [ ] marker: initial pose
  • [ ] from goal frame (when loading)
  • [ ] from selectable frame (in GUI)
• [ ] BUG: marker pose is not updating if marker transform is (manually) edited
• [ ] make markers + refs deletable (if unused)
• [ ] improve cone marker
  • [x] fix initial position of size marker (ball)
  • [ ] Remove control arrows from ball marker
  • [ ] Pulling the ball marker around, throws exception KeyError: 'marker_Handle'
  • [ ] cone pose: bind to position/orientation of other ref/TF frame(s)? This will make IAMarker.markers obsolete as the ball marker will be the only one remaining.
• [x] trait dialogs: reuse already set traits when changing main class type: https://github.com/ubi-agni/stack_of_tasks/pull/24/commits/fad74069837ecb15fcbb4cefae363017026be24f
• [x] order of traits in Task definition dialog is random (and changes on each invocation): https://github.com/ubi-agni/stack_of_tasks/pull/24/commits/adf26bbf1a4ec19a8fba76e0fe77be10af068d5e
• [ ] make tasks in hierarchy checkable to easily enable/disable them
• [x] Start button should reflect the state of the GUI: Use a checkable button, display Start/Stop text.
• [ ] Modifying the TaskHierarchy while running the Solver in a thread causes issues. DeepCopy the hierarchy when starting the thread.

Task definitions

• [ ] Generalize equality/inequality tasks: all equality tasks could be used as inequality tasks as well. E.g. PositionTask could become a BoxTask with an (optional) optimal pose (center) and tolerances (size of box). Consider both types of tasks in a more common fashion.
• [ ] relType: defer from Refs. Allow fixing of RobotRefFrame
• [ ] relative inequality task: not implemented
• [ ] new trait Task.scale=1.0 for all tasks (to scale down error, e.g. DistanceTask is very sensitive)