EGPlanner working in headless mode from grasp_planning_graspit

roamlab · Jun 28, 2016 · e5dc095 · e5dc095
1 parent be05910
commit e5dc095
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Showing 7 changed files with 45 additions and 25 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -159,7 +159,6 @@ set (GRASPIT_EGPLANNER_HEADERS
     ${GSRC}/include/EGPlanner/simAnn.h 
     ${GSRC}/include/EGPlanner/searchState.h 
     ${GSRC}/include/EGPlanner/searchStateImpl.h 
-    ${GSRC}/include/EGPlanner/energy/searchEnergy.h 
     ${GSRC}/include/EGPlanner/onLinePlanner.h 
     ${GSRC}/include/EGPlanner/egPlanner.h 
     ${GSRC}/include/EGPlanner/simAnnPlanner.h 
@@ -169,6 +168,11 @@ set (GRASPIT_EGPLANNER_HEADERS
     ${GSRC}/include/EGPlanner/graspTesterThread.h 
     ${GSRC}/include/EGPlanner/onLineGraspInterface.h 
     ${GSRC}/include/EGPlanner/listPlanner.h 
+
+)
+
+set (GRASPIT_EGPLANNER_ENERGY_HEADERS
+    ${GSRC}/include/EGPlanner/energy/searchEnergy.h 
     ${GSRC}/include/EGPlanner/energy/autograspQualityEnergy.h 
     ${GSRC}/include/EGPlanner/energy/closureSearchEnergy.h
     ${GSRC}/include/EGPlanner/energy/compliantEnergy.h
@@ -177,10 +181,9 @@ set (GRASPIT_EGPLANNER_HEADERS
     ${GSRC}/include/EGPlanner/energy/guidedAutoGraspEnergy.h 
     ${GSRC}/include/EGPlanner/energy/guidedPotentialQualityEnergy.h 
     ${GSRC}/include/EGPlanner/energy/potentialQualityEnergy.h
-    ${GSRC}/include/EGPlanner/energy/strictAutoGraspEnergy.h 
+    ${GSRC}/include/EGPlanner/energy/strictAutoGraspEnergy.h
 )
 
-
 # all headers which are in the  cmdline
 # directory and should be included
 # in the installation should be listed in the
@@ -826,6 +829,13 @@ install(FILES
     DESTINATION ${INCLUDE_DESTINATION}/EGPlanner
 )
 
+install(FILES
+    ${GRASPIT_EGPLANNER_ENERGY_HEADERS}
+    DESTINATION ${INCLUDE_DESTINATION}/EGPlanner/energy
+)
+
+
+
 if (PQP_COLLISION)
     install(FILES
         ${GRASPIT_INCLUDEDIR_HEADERS}

diff --git a/cmake/graspitConfig.cmake b/cmake/graspitConfig.cmake
@@ -84,7 +84,7 @@ endif (graspit_LIBRARY_RELEASE)
 if (NOT CATKIN_DEVEL_PREFIX)
     # We also need to include the graspit targets file if not using catkin
     get_filename_component(LIB_SUFFIX ${graspit_LIBRARY_RELEASE} EXT)
-    message("Graspit library suffix: ${LIB_SUFFIX}, shared lib suffix: ${CMAKE_SHARED_LIBRARY_SUFFIX}")
+    # message("Graspit library suffix: ${LIB_SUFFIX}, shared lib suffix: ${CMAKE_SHARED_LIBRARY_SUFFIX}")
     if (LIB_SUFFIX STREQUAL CMAKE_SHARED_LIBRARY_SUFFIX)
         message(STATUS "Using graspit SHARED lib")
         include(${SELF_DIR}/../graspit-targets.cmake)

diff --git a/include/EGPlanner/energy/searchEnergy.h b/include/EGPlanner/energy/searchEnergy.h
@@ -31,7 +31,7 @@
 #include <QObject>
 
 #include "search.h"
-#include "include/matvec3D.h"
+#include "matvec3D.h"
 
 class Hand;
 class Body;

diff --git a/include/EGPlanner/searchState.h b/include/EGPlanner/searchState.h
@@ -31,7 +31,7 @@
 #include <QString>
 
 #include "search.h"
-#include "include/matvec3D.h"
+#include "matvec3D.h"
 
 class Hand;
 class Body;

diff --git a/include/EGPlanner/simAnn.h b/include/EGPlanner/simAnn.h
@@ -35,7 +35,7 @@ class Body;
 class SoSensor;
 
 #include <stdio.h>
-#include "include/matvec3D.h"
+#include "matvec3D.h"
 #include <vector>
 
 /*!	This class performs simulated annealing on a collection of variables 

diff --git a/include/graspitCore.h b/include/graspitCore.h
@@ -133,7 +133,8 @@ class GraspitCore
   void startMainLoop();
   void exitMainLoop();
 
-  void emptyWorld();
+  /*! Deletes the existing world and creates a new (empty) one */
+  void emptyWorld(const char* name="MainWorld");
 
   //! Get the main database manager, when CGDB support is enabled
   db_planner::DatabaseManager* getDBMgr(){return mDBMgr;}

diff --git a/src/graspitCore.cpp b/src/graspitCore.cpp
@@ -104,30 +104,38 @@ GraspitCore::GraspitCore(int argc, char **argv):
     bool headless = args->exist("headless");
 
     if(headless){
-        SoQt::init(argc, argv, "SOQT");
+        if (argc < 1)
+        {
+            DBGA("At least 1 command line argument required");
+            initResult=FAILURE;
+            return;
+        }
+        // need to initialize with this init() instead of passing argc, argv
+        // or it segfaults
+        SoQt::init(argv[0], "SOQT");
     }
     else{
         mainWindow = new MainWindow;
         SoQt::init(mainWindow->mWindow);
     }
 
-      //Initialize the world.  It has no parent,
-      world = new World(NULL, //QObject parent
-                      "mainWorld"); // World Name
+    //Initialize the world.  It has no parent,
+    world = new World(NULL, //QObject parent
+                  "mainWorld"); // World Name
 
-      // initialize Inventor additions
-      SoComplexShape::initClass();
-      SoArrow::initClass();
-      SoTorquePointer::initClass();
+    // initialize Inventor additions
+    SoComplexShape::initClass();
+    SoArrow::initClass();
+    SoTorquePointer::initClass();
 
-      //Do not initialize the IVmgr if we are running headless. ivmgr will stay NULL
-      if(!headless){
-          ivmgr = new IVmgr(world, (QWidget *)mainWindow->mUI->viewerHolder,"myivmgr");
-          ivmgr->getViewer()->getWidget()->setFocusPolicy(Qt::StrongFocus);
-      }
+    //Do not initialize the IVmgr if we are running headless. ivmgr will stay NULL
+    if(!headless){
+      ivmgr = new IVmgr(world, (QWidget *)mainWindow->mUI->viewerHolder,"myivmgr");
+      ivmgr->getViewer()->getWidget()->setFocusPolicy(Qt::StrongFocus);
+    }
 
-      graspitCore = this;
-      mExitCode = 0;
+    graspitCore = this;
+    mExitCode = 0;
 
     int errorFlag=0;
 
@@ -283,14 +291,15 @@ GraspitCore::exitMainLoop()
   SoQt::exitMainLoop();
 }
 
+
 /*!
   Deletes the world, and creates a new one.
 */
 void
-GraspitCore::emptyWorld()
+GraspitCore::emptyWorld(const char * name)
 {
   delete world;
-  world = new World(NULL, "MainWorld");
+  world = new World(NULL, name);
   if(ivmgr)
   {
     ivmgr->setWorld(world);