int CBirrtProblem::CheckSelfCollision(ostream& sout, istream& sinput)
{
//lock mutex
EnvironmentMutex::scoped_lock lockenv(GetEnv()->GetMutex());
if(robot->CheckSelfCollision())
sout << "1";
else
sout << "0";
return true;
}
bool QtOSGViewer::_ForceUpdatePublishedBodies()
{
{
boost::mutex::scoped_lock lockupdating(_mutexUpdating);
if( !_bUpdateEnvironment )
return false;
}
boost::mutex::scoped_lock lock(_mutexUpdateModels);
EnvironmentMutex::scoped_lock lockenv(GetEnv()->GetMutex());
GetEnv()->UpdatePublishedBodies();
_bModelsUpdated = false;
_bLockEnvironment = false; // notify UpdateFromModel to update without acquiring the lock
_condUpdateModels.wait(lock);
_bLockEnvironment = true; // reste
return _bModelsUpdated;
}
bool CBirrtProblem::DoGeneralIK(ostream& sout, istream& sinput)
{
//lock mutex
EnvironmentMutex::scoped_lock lockenv(GetEnv()->GetMutex());
RAVELOG_DEBUG("Starting General IK...\n");
TransformMatrix tmtarg;
TransformMatrix tmrobot;
Transform Ttarg;
Vector cogtarg;
bool bExecute = false;
bool bBalance = false;
bool bGetTime = false;
bool bReturnSolved = false;
bool bNoRot = false;
bool bReturnClosest = false;
std::vector<string> supportlinks;
std::vector<dReal> ikparams;
std::vector<dReal> supportpolyx;
std::vector<dReal> supportpolyy;
dReal temp;
string cmd;
Vector polyscale(1.0,1.0,1.0);
Vector polytrans(0,0,0);
while(!sinput.eof()) {
sinput >> cmd;
if( !sinput )
break;
if( stricmp(cmd.c_str(), "nummanips") == 0 ) {
sinput >> temp;
ikparams.push_back(temp);
}
else if( stricmp(cmd.c_str(), "exec") == 0 ) {
