00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #ifndef _GRASPPLANNINGTASK_H_ 00036 #define _GRASPPLANNINGTASK_H_ 00037 00038 #include <QObject> 00039 00040 #include <graspit_dbase_tasks/dbTask.h> 00041 00042 class Hand; 00043 class GraspableBody; 00044 class EGPlanner; 00045 class GraspPlanningState; 00046 00047 namespace dbase_grasp_planner { 00048 00050 00074 class GraspPlanningTask : public QObject, public graspit_dbase_tasks::DBTask { 00075 Q_OBJECT 00076 protected: 00078 GraspableBody *mObject; 00080 EGPlanner *mPlanner; 00082 Hand *mHand; 00084 int mLastSolution; 00086 db_planner::PlanningTaskRecord mPlanningTask; 00087 00089 bool saveGrasp(const GraspPlanningState *pre_gps, const GraspPlanningState *final_gps); 00090 00092 bool computePreGrasp(const GraspPlanningState *final_gps, GraspPlanningState **pre_gps); 00093 00095 virtual bool setPreGrasp(const GraspPlanningState *graspState); 00096 public: 00098 GraspPlanningTask(graspit_dbase_tasks::DBTaskDispatcher *disp, 00099 db_planner::DatabaseManager *mgr, 00100 db_planner::TaskRecord rec); 00102 virtual ~GraspPlanningTask(); 00104 virtual void start(); 00105 public slots: 00107 void plannerLoopUpdate(); 00109 void plannerComplete(); 00110 }; 00111 00112 } 00113 00114 #endif