gengrasppose: produce better output

This commit is contained in:
v4hn 2017-03-02 17:41:28 +01:00
parent a346b64e35
commit 42fb4c147b

View File

@ -111,6 +111,7 @@ moveit::task_constructor::subtasks::GenerateGraspPose::compute(){
while(current_angle_ < 2*M_PI){
if( remaining_time_ <= 0.0 ){
std::cout << "computed " << current_angle_ << " with " << previous_solutions_.size() << " cached ik solutions" << std::endl;
current_angle_+= angle_delta_;
remaining_time_= timeout_;
tried_current_state_as_seed_= false;
@ -119,7 +120,6 @@ moveit::task_constructor::subtasks::GenerateGraspPose::compute(){
}
pose.orientation= tf::createQuaternionMsgFromRollPitchYaw(M_PI, 0.0, current_angle_);
std::cout << "trying " << current_angle_ << " with remaining time " << remaining_time_ << std::endl;
if(tried_current_state_as_seed_)
grasp_state.setToRandomPositions(jmg);