advanced_options_dialog.h
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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 <QDialog>
00034 
00035 #include <ros/ros.h>
00036 
00037 namespace Ui
00038 {
00039   class AdvancedOptionsDialog;
00040 }
00041 
00042 #include "pr2_object_manipulation_msgs/IMGUIAdvancedOptions.h"
00043 
00044 namespace pr2_interactive_manipulation {
00045 
00046 class InteractiveManipulationFrontend;
00047 
00048 struct AdvancedGraspOptions
00049 {
00050   bool reactive_grasping_;
00051   bool reactive_force_;
00052   bool reactive_place_;
00053   int lift_steps_;
00054   int retreat_steps_;
00055   int lift_direction_choice_;
00056   int desired_approach_;
00057   int min_approach_;
00058   float max_contact_force_;
00059   bool find_alternatives_;
00060   bool always_plan_grasps_;
00061   bool cycle_gripper_opening_;
00062 };
00063   
00064 class AdvancedOptionsDialog : public QDialog
00065 {
00066 Q_OBJECT
00067  private:
00068   InteractiveManipulationFrontend *frontend_;
00069 
00070   Ui::AdvancedOptionsDialog* ui_;
00071                                 
00072   ros::NodeHandle root_nh_;
00073 
00074  private Q_SLOTS:
00075   virtual void setDefaultsClicked();
00076   virtual void acceptClicked();
00077 
00078   virtual void reactiveGraspingClicked();
00079   virtual void reactiveForceClicked();
00080 
00081   virtual void findAlternativesClicked();
00082   virtual void alwaysPlanGraspsClicked();
00083   virtual void cycleGripperOpeningClicked();
00084 
00085  public:
00086   AdvancedOptionsDialog(InteractiveManipulationFrontend *frontend);
00087   ~AdvancedOptionsDialog();
00088 
00089   void setOptions(AdvancedGraspOptions go);
00090   static AdvancedGraspOptions getDefaults(int interface_number = 0, int task_number = 0);
00091   AdvancedGraspOptions getOptions();
00092 
00093   void setOptionsMsg(pr2_object_manipulation_msgs::IMGUIAdvancedOptions go);
00094   static pr2_object_manipulation_msgs::IMGUIAdvancedOptions getDefaultsMsg(int interface_number = 0, int task_number = 0);
00095   pr2_object_manipulation_msgs::IMGUIAdvancedOptions getOptionsMsg();
00096 };
00097 
00098 }
00099 
00100 #endif


pr2_interactive_manipulation
Author(s): Matei Ciocarlie, Kaijen Hsiao, Adam Leeper
autogenerated on Fri Jan 3 2014 12:08:58