WIP Expose an interface for passing in a function to translate joint values to grasp width

[lucarinelli]

These changes should address this comment from @mlautman

https://github.com/ros-planning/moveit_grasps/blob/f1d4fdaa7ba2e5e50e1f3841a5d699644fe790ef/src/two_finger_grasp_data.cpp#L125-L128

Making possible for the user to pass a function during the grasp data construction in the demo grasp pipeline setup

https://github.com/ros-planning/moveit_grasps/blob/f1d4fdaa7ba2e5e50e1f3841a5d699644fe790ef/src/demo/grasp_pipeline_demo.cpp#L142-L147

The original interpolation behavior is kept as a default if no function is specified.

I'm using this with a gripper of which I'm controlling the opening width through a single motorized joint providing the angle in radiants

[codecov[bot]]

Codecov Report

Merging #97 into master will decrease coverage by 0.01%. The diff coverage is 83.33%.

@@            Coverage Diff             @@
##           master      #97      +/-   ##
==========================================
- Coverage   69.65%   69.64%   -0.02%     
==========================================
  Files          32       32              
  Lines        1717     1723       +6     
==========================================
+ Hits         1196     1200       +4     
- Misses        521      523       +2     

Impacted Files	Coverage Δ
include/moveit_grasps/grasp_candidate.h	100.00% <ø> (ø)
include/moveit_grasps/grasp_data.h	100.00% <ø> (ø)
include/moveit_grasps/grasp_filter.h	80.00% <ø> (ø)
include/moveit_grasps/grasp_generator.h	100.00% <ø> (ø)
include/moveit_grasps/grasp_planner.h	100.00% <ø> (ø)
include/moveit_grasps/suction_grasp_filter.h	100.00% <ø> (ø)
include/moveit_grasps/suction_grasp_generator.h	100.00% <ø> (ø)
include/moveit_grasps/suction_voxel_matrix.h	93.54% <ø> (ø)
include/moveit_grasps/two_finger_grasp_data.h	100.00% <ø> (ø)
include/moveit_grasps/two_finger_grasp_filter.h	100.00% <ø> (ø)
... and 15 more

---

Continue to review full report at Codecov.

Legend - Click here to learn more Δ = absolute <relative> (impact), ø = not affected, ? = missing data Powered by Codecov. Last update f1d4fda...d298305. Read the comment docs.