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