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CURG-archive / graspit_bci

THIS VERSION OF GRASPIT IS FOR A SPECIFIC PROJECT. IT IS HIGHLY LIKELY THAT IT IS BROKEN FOR YOUR APPLICATION. PLEASE DO NOT CLONE THIS REPOSITORY EXPECTING IT TO WORK. YOU PROBABLY WANT https://github.com/graspit-simulator/graspit INSTEAD!
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Add grasp attribute modification to graspit socket server #3

Closed jon-weisz closed 11 years ago

jon-weisz commented 11 years ago

Required for issue #1 The Graspit Socket server should accept a SetGraspAttribute grasp_identifier attributeString float_value command that looks at the currently running planner, finds the identified grasp if possible, and sets the given attribute to the given value.

jon-weisz commented 11 years ago

In graspitServer.cpp new functions are added by adding the method to the ClientSocket class so that it will have access to the query string iterator, and then modifying the ClientSocket::readClient method to add the function name and then parsing the string for the function's parameters. Look at the outputPlannerResults method for how to get access to the current planner's grasp list The convertToNumber helper function may come in handy also.

jon-weisz commented 11 years ago

@jvarley This issue is addressed by commit 52cd1df74e6de24dff61592694e418a4f730c067.

I fixed up your code to do this. It was missing a bunch of semi colon line endings and needed 2b5aff77cb67165ffe4cdf87d486c5596af71740 to work.