Exemplos de GraspPlanningState::isLegal em C++ (Cpp)

Exemplo n.º 1

Arquivo: graspTesterThread.cpp Projeto: graspit-simulator/graspit

void
GraspTester::mainLoop()
{
    GraspPlanningState *s = popCandidate();

    if (!s) {
        DBGP("Empty buffer for tester");
        msleep(100);
        return;
    }
    s->changeHand(mHand, true);
    testGrasp(s);
    DBGP("TESTER: candidate has energy " << s->getEnergy());
    mHand->breakContacts();
    if (s->isLegal() && s->getEnergy() < -1.2) {
        //save the final grasping position that has resulted from autograsp
        s->setPositionType(SPACE_COMPLETE);
        s->setPostureType(POSE_DOF);
        //save the current transform in absolute terms
        s->setRefTran(transf::IDENTITY);
        s->saveCurrentHandState();
        postSolution(s);
        DBGP("Tester posting a solution at iteration " << s->getItNumber());
    } else {
        DBGP("Tester removing candidate");
        delete s;
    }
}