Fixed issue in resistible wrench mapper

roamlab · May 14, 2019 · 870fb9f · 870fb9f
1 parent c2d9ecd
commit 870fb9f
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/src/graspSolver.cpp b/src/graspSolver.cpp
@@ -1657,7 +1657,7 @@ GraspSolver::create2DMapRefinement(Matrix &preload, const Matrix &direction1, co
     w_max.multiply(max);
     file << -w_max.elem(0,0) << ", " << -w_max.elem(1,0) << "\n";
 
-    DBGA("---------------- Iteration " << i+1 << "/" << directionSteps << " complete");
+    DBGA("Iteration " << i+1 << "/" << directionSteps << ": " << max);
   }
 }
 

diff --git a/ui/gsaDlg.cpp b/ui/gsaDlg.cpp
@@ -371,7 +371,7 @@ GSADlg::resMapSettingsArea(QHBoxLayout *hl, QVBoxLayout *vl)
 
   forceLayout->addWidget(new QLabel(QString("Output file:")));
   std::stringstream default_filename;
-  default_filename << std::getenv("GRASPIT") << "resistible_wrenches.csv";
+  default_filename << std::getenv("GRASPIT") << "/build/resistible_wrenches.csv";
   mParams->fileInput = new QLineEdit();
   mParams->fileInput->setText(default_filename.str().c_str());
   forceLayout->addWidget(mParams->fileInput);
@@ -468,7 +468,7 @@ GSADlg::solveButtonClicked()
     int i,j;
     for (i=j=0; it!=mParams->PlaneInput.end(); i++, it++) {
       if ((*it)->isChecked() && j==0) {direction1.elem(i,0) = 1.0; j++;}
-      if ((*it)->isChecked() && j==1) {direction2.elem(i,0) = 1.0; j++;}
+      else if ((*it)->isChecked() && j==1) {direction2.elem(i,0) = 1.0; j++;}
     }
   } else {
     std::list<QLineEdit*>::iterator it=mParams->WrenchInput.begin();