From e63cb20ac928467a8666f10943daf71cde1d856d Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Tue, 10 Dec 2019 12:38:45 +0100
Subject: [PATCH] Add option to suppress propagating joint values
---
GraspPlanning/examples/GraspPlanner/GraspPlanner.ui | 12 +++++++++++-
.../examples/GraspPlanner/GraspPlannerWindow.cpp | 3 +++
2 files changed, 14 insertions(+), 1 deletion(-)
diff --git a/GraspPlanning/examples/GraspPlanner/GraspPlanner.ui b/GraspPlanning/examples/GraspPlanner/GraspPlanner.ui
index 97175ec47..041df06b6 100644
--- a/GraspPlanning/examples/GraspPlanner/GraspPlanner.ui
+++ b/GraspPlanning/examples/GraspPlanner/GraspPlanner.ui
@@ -182,6 +182,16 @@
</property>
</widget>
</item>
+ <item row="8" column="0">
+ <widget class="QCheckBox" name="checkBoxPropagateJointValues">
+ <property name="toolTip">
+ <string>This might lead to infinite loops</string>
+ </property>
+ <property name="text">
+ <string>Propagate joints</string>
+ </property>
+ </widget>
+ </item>
</layout>
</widget>
</item>
@@ -247,7 +257,7 @@
<x>0</x>
<y>0</y>
<width>1079</width>
- <height>22</height>
+ <height>20</height>
</rect>
</property>
</widget>
diff --git a/GraspPlanning/examples/GraspPlanner/GraspPlannerWindow.cpp b/GraspPlanning/examples/GraspPlanner/GraspPlannerWindow.cpp
index a158a3fbd..25f431f60 100644
--- a/GraspPlanning/examples/GraspPlanner/GraspPlannerWindow.cpp
+++ b/GraspPlanning/examples/GraspPlanner/GraspPlannerWindow.cpp
@@ -378,6 +378,9 @@ void GraspPlannerWindow::plan()
planner.reset(new GraspStudio::GenericGraspPlanner(grasps, qualityMeasure, approach, quality, forceClosure));
}
+ robot->setPropagatingJointValuesEnabled(UI.checkBoxPropagateJointValues->isChecked());
+ eefCloned->setPropagatingJointValuesEnabled(UI.checkBoxPropagateJointValues->isChecked());
+
int nr = planner->plan(nrGrasps, timeout);
VR_INFO << " Grasp planned:" << nr << endl;
int start = static_cast<int>(grasps->getSize()) - nrGrasps - 1;
--
GitLab