/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/DBase/DBPlanner/aligner.h
Go to the documentation of this file.00001 //###################################################################### 00002 // 00003 // GraspIt! 00004 // Copyright (C) 2002-2009 Columbia University in the City of New York. 00005 // All rights reserved. 00006 // 00007 // GraspIt! is free software: you can redistribute it and/or modify 00008 // it under the terms of the GNU General Public License as published by 00009 // the Free Software Foundation, either version 3 of the License, or 00010 // (at your option) any later version. 00011 // 00012 // GraspIt! is distributed in the hope that it will be useful, 00013 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00014 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00015 // GNU General Public License for more details. 00016 // 00017 // You should have received a copy of the GNU General Public License 00018 // along with GraspIt!. If not, see <http://www.gnu.org/licenses/>. 00019 // 00020 // Author(s): Hao Dang and Matei T. Ciocarlie 00021 // 00022 // $Id: aligner.h,v 1.2 2009/06/17 18:57:14 coreyg Exp $ 00023 // 00024 //###################################################################### 00025 00030 #ifndef DB_PLANNER_ALIGNER_H 00031 #define DB_PLANNER_ALIGNER_H 00032 00033 #include "model.h" 00034 00035 namespace db_planner { 00036 00038 00041 template <class Dest> 00042 class Aligner { 00043 public: 00045 virtual bool Align(const Model& /*source*/, 00046 const Dest& /*dest*/, 00047 float /*transform*/[16]) const { 00048 return false; 00049 } 00050 virtual ~Aligner() {} 00051 }; 00052 00053 00054 } // end namespace db_planner 00055 00056 00057 #endif // DB_PLANNER_ALIGNER_H