fix usage of preshapes in GraspPlanner

GraspPlanning/examples/GraspPlanner/GraspPlannerWindow.cpp

@@ -329,7 +329,7 @@ void GraspPlannerWindow::loadObject()
     qualityMeasure.reset(new GraspStudio::GraspQualityMeasureWrenchSpace(object));
     //qualityMeasure->setVerbose(true);
     qualityMeasure->calculateObjectProperties();
-    approach.reset(new GraspStudio::ApproachMovementSurfaceNormal(object, eef));
+    approach.reset(new GraspStudio::ApproachMovementSurfaceNormal(object, eef, preshape));
     eefCloned = approach->getEEFRobotClone();
 
     if (robot && eef)
@@ -474,7 +474,13 @@ void GraspPlannerWindow::openEEF()
 
     if (eefCloned && eefCloned->getEndEffector(eefName))
     {
-        eefCloned->getEndEffector(eefName)->openActors();
+        if (!preshape.empty())
+        {
+            eefCloned->getEndEffector(eefName)->setPreshape(preshape);
+        } else
+        {
+            eefCloned->getEndEffector(eefName)->openActors();
+        }
     }
 
     buildVisu();

GraspPlanning/examples/GraspQuality/GraspQuality.ui

@@ -510,36 +510,6 @@
         <string>Visualization</string>
        </property>
       </widget>
-      <zorder>pushButtonReset</zorder>
-      <zorder>pushButtonClose</zorder>
-      <zorder>pushButtonOpen</zorder>
-      <zorder>comboBoxEEF</zorder>
-      <zorder>label</zorder>
-      <zorder>pushButtonQuality</zorder>
-      <zorder>pushButtonLoad</zorder>
-      <zorder>groupBox_4</zorder>
-      <zorder>frameViewer</zorder>
-      <zorder>frameViewer</zorder>
-      <zorder>frameViewer</zorder>
-      <zorder>label_12</zorder>
-      <zorder>comboBoxGrasp</zorder>
-      <zorder>checkBoxCones</zorder>
-      <zorder>checkBoxColModel</zorder>
-      <zorder>pushButtonToTCP</zorder>
-      <zorder>label_8</zorder>
-      <zorder>label_7</zorder>
-      <zorder>label_9</zorder>
-      <zorder>label_4</zorder>
-      <zorder>horizontalSliderX</zorder>
-      <zorder>label_5</zorder>
-      <zorder>horizontalSliderPi</zorder>
-      <zorder>label_3</zorder>
-      <zorder>horizontalSliderY</zorder>
-      <zorder>label_6</zorder>
-      <zorder>horizontalSliderZ</zorder>
-      <zorder>horizontalSliderRo</zorder>
-      <zorder>horizontalSliderYa</zorder>
-      <zorder>label_13</zorder>
      </widget>
     </item>
     <item row="0" column="0">

VirtualRobot/IK/JacobiProvider.h

@@ -99,7 +99,7 @@ namespace VirtualRobot
         RobotNodeSetPtr rns;
         InverseJacobiMethod inverseMethod;
         bool initialized;
-        Eigen::VectorXf jointWeights; // only used in eTranspose mode
+        Eigen::VectorXf jointWeights;
 
     };