/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/DBase/compliantGraspCopyTask.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): Matei T. Ciocarlie 00021 // 00022 // $Id: compliantGraspCopyTask.h,v 1.1 2010/09/01 23:54:20 cmatei Exp $ 00023 // 00024 //###################################################################### 00025 00026 #ifndef _COMPLIANTGRASPCOPYTASK_H_ 00027 #define _COMPLIANTGRASPCOPYTASK_H_ 00028 00029 #include "preGraspCheckTask.h" 00030 00031 #include "pr2Gripper.h" 00032 00033 class transf; 00034 00036 00042 class CompliantGraspCopyTask : public PreGraspCheckTask { 00043 private: 00045 bool compliantCopy(const db_planner::Grasp *grasp, Pr2Gripper2010::ComplianceType compliance); 00046 00048 bool checkStoreGrasp(const db_planner::Grasp *original); 00049 00051 bool similarity(const transf &t1, const transf &t2); 00052 00054 bool searchSimilarity(const transf &t1, const transf &t2); 00055 00056 public: 00058 CompliantGraspCopyTask(TaskDispatcher *disp, db_planner::DatabaseManager *mgr, 00059 db_planner::TaskRecord rec); 00061 ~CompliantGraspCopyTask(){} 00062 00064 virtual void start(); 00065 }; 00066 00067 00068 #endif