// Constructor GraspGeneratorTest(int num_tests) : nh_("~") { // --------------------------------------------------------------------------------------------- // Load the Robot Viz Tools for publishing to Rviz rviz_tools_.reset(new block_grasp_generator::RobotVizTools(RVIZ_MARKER_TOPIC, EE_GROUP, PLANNING_GROUP_NAME, BASE_LINK)); rviz_tools_->setLifetime(40.0); rviz_tools_->setMuted(false); // --------------------------------------------------------------------------------------------- // Load grasp generator loadRobotGraspData(); // Load robot specific data block_grasp_generator_.reset( new block_grasp_generator::BlockGraspGenerator(rviz_tools_) ); // --------------------------------------------------------------------------------------------- // Load grasp filter bool rviz_verbose = true; grasp_filter_.reset(new block_grasp_generator::GraspFilter(BASE_LINK, rviz_verbose, rviz_tools_, PLANNING_GROUP_NAME) ); // --------------------------------------------------------------------------------------------- // Generate grasps for a bunch of random blocks geometry_msgs::Pose block_pose; std::vector<manipulation_msgs::Grasp> possible_grasps; // Loop for (int i = 0; i < num_tests; ++i) { ROS_INFO_STREAM_NAMED("test","Adding random block " << i+1 << " of " << num_tests); generateRandomBlock(block_pose); //getTestBlock(block_pose); rviz_tools_->publishBlock(block_pose, BLOCK_SIZE, false); possible_grasps.clear(); // Generate set of grasps for one block rviz_tools_->setMuted(true); // we don't want to see unfiltered grasps block_grasp_generator_->generateGrasps( block_pose, grasp_data_, possible_grasps); rviz_tools_->setMuted(false); // Filter the grasp for only the ones that are reachable grasp_filter_->filterGrasps(possible_grasps); // Visualize them block_grasp_generator_->visualizeGrasps(possible_grasps, block_pose); // Make sure ros is still going if(!ros::ok) break; } }
void HandshakeResponder::responderRespondHello(){ //R:1 forge QByteArray clearText; clearText.append(SUPPORTED_PROTOCOL_VERSION); QByteArray firstHalfSymKey = generateRandomBlock(32); m_gcmKey.append(firstHalfSymKey.left(16)); //first half key m_gcmBaseIV.append(firstHalfSymKey.right(16));//first half IV clearText.append(firstHalfSymKey); updateIntegrityHash(&m_responderIntegrityHash, clearText); disconnect(m_socket, &AbstractLink::readyRead, this, 0); connect(m_socket, &AbstractLink::readyRead, this, &HandshakeResponder::responderParseHalfKeyAndResponderIntegrity); m_socketStream << rsaEncrypt(clearText); m_timeout.start(); }