void
GraspTester::mainLoop()
{
GraspPlanningState *s = popCandidate();
if (!s) {
DBGP("Empty buffer for tester");
msleep(100);
return;
}
s->changeHand(mHand, true);
testGrasp(s);
DBGP("TESTER: candidate has energy " << s->getEnergy());
mHand->breakContacts();
if (s->isLegal() && s->getEnergy() < -1.2) {
//save the final grasping position that has resulted from autograsp
s->setPositionType(SPACE_COMPLETE);
s->setPostureType(POSE_DOF);
//save the current transform in absolute terms
s->setRefTran(transf::IDENTITY);
s->saveCurrentHandState();
postSolution(s);
DBGP("Tester posting a solution at iteration " << s->getItNumber());
} else {
DBGP("Tester removing candidate");
delete s;
}
}
/**
* @function sampleBox_valueChanged
*/
void CanonicalPlannerDlg::sampleBox_valueChanged(int _j ) {
if( mPlanner == NULL ) {
std::cout << "No planner yet. Load base grasps first."<< std::endl;
return;
}
sampleBox->setRange(0, mPlanner->getNumSampleGrasps(baseBox->value()) - 1 );
mPlanner->showSampleGrasp( baseBox->value(), _j );
GraspPlanningState * gps = mPlanner->getSampleGrasp( baseBox->value(), _j );
double energy = gps->getEnergy();
int iter = gps->getItNumber();
std::cout << " Grasp ["<<baseBox->value()<<","<<_j<<"]: Energy: "<< energy<<" and iter: "<< iter <<std::endl;
}
