Merge pull request #14 from airballking/master

Changed lift action to infer arms to use from designator.
Extended the `update-grasped-object-designator' to take additional description

The designator generated by `update-grasped-object-designator' can now be equipped with additional designator properties (using the optional key parameter `new-properties').
Extended the handled object grasping to support constraint aware ik's

All functions concerned with handled object grasping now have an additional parameter used for activating constraint aware ik use. Also, the entry point for this has been added. At the moment, only the registering of those objects before grasping is missing.
Corrected line lengths and removed the constraint-awareness from the grasp

The actual grasp should be executed without constraint-awareness since we need to get real close to the object when actually grasping. Added notes about that as well.
Corrected 'foramt-control' to 'format-control' in `register-collision-object'

The key parameter was spelt wrong which resulted in a faulty execution.
Corrected indentations and commented out type checks and certain options

The type check on `(declare (type kinematics_msgs-srv:getpositionik-response ik-result))' breaks the `ik->trajectory' function for constraint aware ik's. Removed the type check now (it should also check for `getconstraintawarepositionik-response' instead of just `getpositionik-response').

Also, commented out the `ordered_collision_operations' option as it is not present in the message sent to `get_constraint_aware_ik'.
Fixed indentation (again) and removed commented-out lines
Added functions for evaluation of euclidean distances via ik solutions
Constraint awareness for grasped objects with handles is added as an optional parameter
Merge pull request #15 from airballking/master

Your change requests from yesterday and one tiny bug fix.
Merge branch 'master' of https://github.com/moesenle/cram_pr2
Merge pull request #16 from fairlight1337/master

Added constraint awareness to grasping, updated designators and fixed indentation
Added type checking for ik responses to ik->trajectory again

As the former version didn't work for constraint aware iks, the type check is now extended to check for both types.
Fixed declarations of types and ignores
Merge branch 'master' of https://github.com/moesenle/cram_pr2
Moved functions to the right places, corrected line lengths, extended distance

Functions in the pr2_manipulation_process_module are now moved into the right files (according to their use). Also, corrected line lengths and indentations at several places. Extended the euclidean-distance function to return a distance for each link that is given (before, it just returned the first distance it could get). So for each target-link given, there is a cons cell containing the link name and the resulting distance. Additionally, extended the get-fk function to return the right values as well. Also, overall cleanup.
Implemented optional use of the euclidean-distance measure while grasp eval

The distance for the grippers during grasps can now be measured by either a quadratic joint-space integral or the euclidean distance for one of the robot-links from the current pose to the final grasping pose. The `reaching-length' function now takes an optional parameter `calc-euclidean-distance' with which the euclidean distance measure can be turned on.
Switched on euclidean measure calculation for nearest handle evaluation

The nearest handle is now evaluated based on the euclidean distance, not on the joint-space distance anymore.
Corrected line length
Increased the pregrasp distance as the old one was too small.

The gripper almost collided with the object handle. Now the distance is set to 0.25 instead of 0.15 (the actual grasp distance is 0.12, so the extra 0.03 from pregrasp to grasp didn't make such a big difference).