/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/barrett.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): Andrew T. Miller and Matei T. Ciocarlie 00021 // 00022 // $Id: barrett.h,v 1.12 2009/06/17 21:10:38 saint Exp $ 00023 // 00024 //###################################################################### 00025 00029 #ifndef BARRETT_H 00030 00031 #include "robot.h" 00032 00033 class BarrettHand; 00034 00036 00040 class Barrett : public Hand { 00041 Q_OBJECT 00042 00043 protected: 00045 BarrettHand *mRealHand; 00046 00047 public: 00049 Barrett(World *w,const char *name) : Hand(w,name) {mRealHand = NULL;} 00051 ~Barrett(); 00052 00054 int loadFromXml(const TiXmlElement* root,QString rootPath); 00055 00057 BarrettHand *getRealHand(); 00058 00060 bool isBusy(); 00061 }; 00062 00063 #define BARRETT__H 00064 #endif