moved the distance sorting method and the update solutions method to publish so that they can be evoked when grasps are done being added by a client
added hasPArameter and hasAttribute to query exiastence without having to get the value and fail
EGPlanner/egPlanner.cpp
Made getBodyList public to make it easier to test for collisions on a specific robot without manually changing dynamicbody links to links.
added the ability to draw circles as the beginning of a hud like interface. This will allow us to replcate the matlab interface in graspit
added implementation of graspitServer HUD circle drawing interface
Added test to make sure planner exists before trying to access it through an unguarded pointer.
fixed desctructor of the handView and handViewWindow to actually delete all of its members. Also added a parameter to initialize the handViewWindow with preset geometry
Added color coding to grasps in window and implemented initializing window with specified geometry.
Fixed table loading to not look in obstacles directory
refactored centralizeBodies to work better.
Fixed bug in checking for the existence of a pointcloud transform before setting it
Added table up direction in viewTarget
Elimiates unfinished circle drawing code in favor of open inventor implementation. Also adds a pregrasp and final grasp collision test for sanity testing database grasps before loading them in to the planner
Starts with the EGPlannerDlg window minimaized, because who needs it?
1280x1024 layout for planner
added a nunch of safe guards to make resetting the state machine more robust
Changed the way that grasps are added from the databse to perform a basic sanity check before adding and to restore the hand to the state is was in before adding the grasps, so now initial approach direction matters
added line to actually perform the top rated grasp after sorting so that we start aligned with it
Changed the grasp ranking to maintain a list of at most 10 tested grasps and at most 20 untested grasps. Changed the distance function to somewhat discount rotations around the approach direction of the hand.