EigenGraspResult.cpp

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#include <grasp_planning_graspit/PrintHelpers.h>
#include <grasp_planning_graspit/EigenGraspResult.h>
#include <vector>

using GraspIt::EigenGraspResult;

EigenGraspResult::EigenGraspResult(const EigenGraspResult& o):
    relTransform(o.relTransform),
    graspDOFs(o.graspDOFs),
    pregraspDOFs(o.pregraspDOFs),
    egVals(o.egVals),
    legal(o.legal),
    qualEpsilon(o.qualEpsilon),
    qualVolume(o.qualVolume),
    energy(o.energy)

{
}

EigenGraspResult::EigenGraspResult(
    const EigenTransform& _relTransform,
    const std::vector<double>& _graspDOFs,
    const std::vector<double>& _pregraspDOFs,
    const std::vector<double>& _egVals,
    const bool _legal,
    const double _qualEpsilon,
    const double _qualVolume,
    const double _energy):
    relTransform(_relTransform),
    graspDOFs(_graspDOFs),
    pregraspDOFs(_pregraspDOFs),
    egVals(_egVals),
    legal(_legal),
    qualEpsilon(_qualEpsilon),
    qualVolume(_qualVolume),
    energy(_energy)
{
}

/*std::ostream& GraspIt::operator<<(std::ostream& o, const EigenGraspResult& r) {

    GraspIt::EigenGraspResult::EigenTransform relTransform=r.getObjectToHandTransform();
    std::vector<double> graspDOFs = r.getGraspJointDOFs();
    std::vector<double> egVals = r.getEigenGraspValues();

    o<<"Joint DOFs = [";
    for (std::vector<double>::const_iterator it=dofs.begin(); it!=dofs.end(); ++it) {
          o<<*it;
          if ((it+1)!=dofs.end()) o<<", ";
    }
    o<<"] EigenGrasps = [";
    for (std::vector<double>::const_iterator it=egVals.begin(); it!=egVals.end(); ++it) {
          o<<*it;
          if ((it+1)!=egVals.end()) o<<", ";
    }
    o<<"] Relative transform = "<<relTransform;
    return o;
}*/