pr2_interactive_manipulation: advanced_options

00001 /*
00002  * Copyright (c) 2009, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #ifndef ADVANCED_OPTIONS_DIALOG
00031 #define ADVANCED_OPTIONS_DIALOG
00032 
00033 #include "pr2_interactive_manipulation/interactive_manipulation_ui.h"
00034 #include "pr2_interactive_manipulation/IMGUIAdvancedOptions.h"
00035 
00036 namespace pr2_interactive_manipulation {
00037 
00038 class InteractiveManipulationFrame;
00039 class InteractiveManipulationFrontend;
00040 
00041 struct AdvancedGraspOptions
00042 {
00043   bool reactive_grasping_;
00044   bool reactive_force_;
00045   bool reactive_place_;
00046   int lift_steps_;
00047   int retreat_steps_;
00048   int lift_vertically_;
00049 };
00050   
00051 class AdvancedOptionsDialog : public AdvancedOptionsDialogBase
00052 {
00053  private:
00054   InteractiveManipulationFrame *parent_;
00055   InteractiveManipulationFrontend *frontend_;
00056   virtual void setDefaultsClicked( wxCommandEvent& event );
00057   virtual void acceptClicked( wxCommandEvent& event );
00058 
00059   virtual void reactiveGraspingClicked( wxCommandEvent& event );
00060   virtual void reactiveForceClicked( wxCommandEvent& event );
00061 
00062  public:
00063   AdvancedOptionsDialog(InteractiveManipulationFrame *parent,
00064                         InteractiveManipulationFrontend *frontend);
00065   ~AdvancedOptionsDialog();
00066 
00067   void setOptions(AdvancedGraspOptions go);
00068   static AdvancedGraspOptions getDefaults();
00069   AdvancedGraspOptions getOptions();
00070 
00071   void setOptionsMsg(IMGUIAdvancedOptions go);
00072   static IMGUIAdvancedOptions getDefaultsMsg();
00073   IMGUIAdvancedOptions getOptionsMsg();
00074 };
00075 
00076 }
00077 
00078 #endif
advanced_options_dialog.h
