Extend options support of EigenGraspPlanner

[JenniferBuehler]

Existing restrictions which may be eliminated:

1. At this stage, only the "Simulated Annealing" planning type is supported. "Loop" and "Multi-Threaded" can probably be integrated fairly easily. So far, no support for the "On-line" type has been considered.
2. Only the state description type STATE_AXIS_ANGLE (GraspIt datatype StateType) has been tested.
3. Only the search energy type ENERGY_CONTACT (GraspIt datatype SearchEnergyType) has been tested.
   • Note: Problems were encountered with ENERGY_CONTACT_QUALITY (also with the original GraspIt simulator) when testing with the Jaco hand (see comment in private field EigenGraspPlanner::graspitSearchEnergyType).

Because of the restrictions 2) and 3), at the moment there is no public method in EigenGraspPlanner to change the state or energy type. By default, STATE_AXIS_ANGLE and ENERGY_CONTACT are used.

This may be a bit of a challenge with the existing graspit source. STATE_AXIS_ANGLE and ENERGY_CONTACT are the main types used in the existing Eigengrasp planner. Also, it seems that only simulated annealing has really been tested.
See also this page in the GraspIt! manual