void apc_sampler_t::link_info(prx::packages::baxter::manipulator_plant_t* manip, const util::vector_t& min_bounds, const util::vector_t& max_bounds, IK_data_base_t* IK_data_base)
{
PRX_PRINT("Linking info to apc sampler < " << this << " >", PRX_TEXT_BROWN);
_manipulator = manip;
manip_space = manip->get_state_space();
IK_base = IK_data_base;
this->min_bounds = min_bounds;
this->max_bounds = max_bounds;
if( manip_point == NULL )
manip_point = manip_space->alloc_point();
}
void pno_criterion_t::link_motion_planner(motion_planner_t* mp)
{
PRX_DEBUG_COLOR("Linking the motion planner...", PRX_TEXT_CYAN );
criterion_t::link_motion_planner( mp );
//I think we need to store a pointer explicitly to a prm* planner
prm_motion_planner = dynamic_cast<prm_star_t*>( mp );
if( prm_motion_planner == NULL )
PRX_FATAL_S("PNO Criterion requires the linked motion planner be a PRM*");
linked_space = mp->state_space;
total_volume = linked_space->space_size();
d = linked_space->get_dimension();
PRX_PRINT("Working in a " << d << " dimensional space, of size: " << total_volume, PRX_TEXT_LIGHTGRAY );
free_volume = total_volume;
//compute_limit();
//Open up an appropriate file for output...
char* w = std::getenv("PRACSYS_PATH");
std::string fname(w);
fname += ("/prx_output/pno_data/");
//fname += "dim_" + int_to_str( d ) + "_" + int_to_str( time(NULL) ) + ".txt";
fname += "dim_" + int_to_str( d ) + "_" + ros::this_node::getName().substr(1,ros::this_node::getName().length()) + ".txt";
stat_out.open( fname.c_str() );
}
void movable_body_plant_t::print_configuration( ) const
{
PRX_PRINT( "Object configuration: " << root_config, PRX_TEXT_GREEN );
}
