OnLinePlanner::OnLinePlanner(Hand *h) : SimAnnPlanner(h)
{
mSolutionClone = NULL;
mMarkSolutions = true;
mCurrentBest = NULL;
mSimAnn->setParameters(ANNEAL_ONLINE);
setRenderType(RENDER_LEGAL);
mRepeat = true;
mGraspTester = new GraspTester(h);
//mGraspTester->getTargetState()->setObject(h->getGrasp()->getObject());
mGraspTester->startThread();
mGraspTester->showClone(false);
//the on-line planner ALWAYS uses a clone for the search but the original hand is saved as the reference hand
mRefHand = h;
createAndUseClone();//after this point mHand now points to a new clone
//in case that later we might want to see what the clone is doing
mHand->setRenderGeometry(true);
//but for now it is hidden
showClone(false);
//hack - I need a better way to handle collisions when the planner is using a clone
//we have three hands we need to take care of: the original hand, this clone and the parallel tester's clone
//some of the collisions are turned off by createAndUseClone(), but not this one
mHand->getWorld()->toggleCollisions(false, mGraspTester->getHand(), mHand);
//so we can distinguish between the two clones
mGraspTester->getHand()->setName( mGraspTester->getHand()->getName() + QString(" th") );//this hand is never put in scene graph, for behind the scenes stuff?
mHand->setName( mHand->getName() + QString(" pl") );
mHand->setTransparency(0.97);//Make the planner hand barely visible just so the user can see something is going on.
//this class will actually be used to set the DOF's of the refHand if we are actually performing
//grasping tasks.
mInterface = new OnLineGraspInterface(mRefHand);
}
void
EGPlanner::run()
{
mMultiThread = true;
mRenderType = RENDER_NEVER;
//threaded planners always use cloned hands
createAndUseClone();
//signal that initialization is ready
setState(INIT);
threadLoop();
}
