graspRecord.cpp

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//######################################################################
//
// GraspIt!
// Copyright (C) 2002-2009  Columbia University in the City of New York.
// All rights reserved.
//
// GraspIt! is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// GraspIt! is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with GraspIt!.  If not, see <http://www.gnu.org/licenses/>.
//
// Author(s): Matei T. Ciocarlie
//
// $Id: graspRecord.cpp,v 1.3 2009/04/21 14:53:08 cmatei Exp $
//
//######################################################################

#include "graspRecord.h"
#include "gloveInterface.h"
#include "debug.h"

GraspRecord::GraspRecord(int size)
{
        mSize = size;
        mPose = new CalibrationPose(mSize);

        mTran = transf::IDENTITY;
        mObjectName = mRobotName = QString("not_set");
}

GraspRecord::~GraspRecord()
{
        delete mPose;
}

void GraspRecord::writeToFile(FILE *fp)
{
        //write names
        fprintf(fp,"%s\n",mObjectName.latin1());
        fprintf(fp,"%s\n",mRobotName.latin1());
        //write transform
        Quaternion q = mTran.rotation();
        fprintf(fp,"%f %f %f %f ",q.x, q.y, q.z, q.w);
        vec3 t = mTran.translation();
        fprintf(fp,"%f %f %f\n",t.x(), t.y(), t.z());
        //write pose
        mPose->writeToFile(fp);
}

void GraspRecord::readFromFile(FILE *fp)
{
        float x,y,z,w;
        //read names
        char name[1000];
        do {
          if(fgets(name, 1000, fp) == NULL) {
            DBGA("GraspRecord::readFromFile - failed to read record name");
            return;
          } 
        } while (name[0]=='\n' || name[0]=='\0' || name[0]==' ');
        mObjectName = QString(name);
        mObjectName = mObjectName.stripWhiteSpace();
        fprintf(stderr,"object: %s__\n",mObjectName.latin1());
        do {
          if(fgets(name, 1000, fp) == NULL) {
            DBGA("GraspRecord::readFromFile - failed to read robot name");
            return;
          }
        } while (name[0]=='\n' || name[0]=='\0' || name[0]==' ');
        mRobotName = QString(name);
        mRobotName = mRobotName.stripWhiteSpace();
        fprintf(stderr,"robot: %s__\n",mRobotName.latin1());
        //read transform
        if( fscanf(fp,"%f %f %f %f",&x, &y, &z, &w) <= 0) {
          DBGA("GraspRecord::readFromFile - failed to read record orientation.");
          return;
        }
        Quaternion q(w, x, y, z);
        if( fscanf(fp,"%f %f %f",&x, &y, &z) <= 0) {
          DBGA("GraspRecord::readFromFile - failed to read record location");
        }
        vec3 t(x,y,z);
        mTran.set(q,t);
        //read pose
        mPose->readFromFile(fp);
        mSize = mPose->getSize();
}

void loadGraspListFromFile(std::vector<GraspRecord*> *list, const char *filename)
{
        FILE *fp = fopen(filename, "r");
        if (fp==NULL) {
                fprintf(stderr,"Unable to open file %s for reading\n",filename);
                return;
        }

        GraspRecord *newGrasp;
        int nGrasps;
        if(fscanf(fp,"%d",&nGrasps)) { 
          DBGA("loadGraspListFromFile - failed to read number of grasps");
          return;
        }
        for(int i=0; i<nGrasps; i++) {
                newGrasp = new GraspRecord(0);
                newGrasp->readFromFile(fp);
                list->push_back(newGrasp);
        }

        fclose(fp);
}

void writeGraspListToFile (std::vector<GraspRecord*> *list, const char *filename)
{
        FILE *fp = fopen(filename, "w");
        if (fp==NULL) {
                fprintf(stderr,"Unable to open file %s for reading\n",filename);
                return;
        }

        fprintf(fp,"%d\n",(int)list->size());
        for (int i=0; i<(int)list->size(); i++) {
                (*list)[i]->writeToFile(fp);
        }

        fclose(fp);
}

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graspit
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autogenerated on Fri Jan 11 11:18:59 2013