void
SimAnnPlanner::setModelState(const GraspPlanningState *modelState)
{
if (isActive()) {
DBGA("Can not change model state while planner is running");
return;
}
if (mCurrentState) delete mCurrentState;
mCurrentState = new GraspPlanningState(modelState);
mCurrentState->setEnergy(1.0e5);
//my hand might be a clone
mCurrentState->changeHand(mHand, true);
if (mTargetState && (mTargetState->readPosition()->getType() != mCurrentState->readPosition()->getType() ||
mTargetState->readPosture()->getType() != mCurrentState->readPosture()->getType() ) ) {
delete mTargetState; mTargetState = NULL;
}
if (!mTargetState) {
mTargetState = new GraspPlanningState(mCurrentState);
mTargetState->reset();
mInputType = INPUT_NONE;
}
invalidateReset();
}
void
ListPlanner::setInput(std::list<GraspPlanningState*> input)
{
if (isActive()) {
DBGA("Can not change input while planner is running");
return;
}
while (!mInputList.empty()){
delete mInputList.back();
mInputList.pop_back();
}
mInputList = input;
mMaxSteps = input.size();
invalidateReset();
}
