TODOs

[rhaschke]

Code cleanup

• consolidate code, remove old stuff
• plotting

GUI

• saving + loading from/to yaml
• BUG: After loading/creating another project, created markers don't show up in rviz anymore
• marker: configurable frame_id
  • remove hard-coded frame_id: c78d653
  • 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
  • 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.
• trait dialogs: reuse already set traits when changing main class type: fad7406
• order of traits in Task definition dialog is random (and changes on each invocation): adf26bb
• make tasks in hierarchy checkable to easily enable/disable them
• 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)