void MarkedList::create_move_grips(){
delete_move_grips(true);
int number_of_grips_made = 0;
std::list<HeeksObj*>::iterator Iter ;
for(Iter = m_list.begin(); Iter != m_list.end() && number_of_grips_made<100; Iter++){
HeeksObj* object = *Iter;
if(object->GetType() == GripperType)continue;
std::list<GripData> vl;
std::list<GripData>::iterator It;
object->GetGripperPositionsTransformed(&vl, false);
for(It = vl.begin(); It != vl.end() && number_of_grips_made<100; It++)
{
move_grips.push_back(new GripperSelTransform(*It, object));
number_of_grips_made++;
}
}
}
void MarkedList::update_move_grips(){
if(gripping)return;
std::list<HeeksObj*>::iterator Iter ;
std::list<Gripper*>::iterator Iter2;
Iter2 = move_grips.begin();
for(Iter = m_list.begin(); Iter != m_list.end(); Iter++){
if(Iter2 == move_grips.end())break;
HeeksObj* object = *Iter;
if(object->GetType() == GripperType)continue;
std::list<GripData> vl;
std::list<GripData>::iterator It;
object->GetGripperPositionsTransformed(&vl, false);
for(It = vl.begin(); It != vl.end(); It++){
Gripper* gripper = *Iter2;
gripper->m_data = *It;
Iter2++;
if(Iter2 == move_grips.end())break;
}
}
}