/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/ui/EGPlanner/compliantPlannerDlg.h

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//######################################################################
//
// GraspIt!
// Copyright (C) 2002-2009  Columbia University in the City of New York.
// All rights reserved.
//
// GraspIt! is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// GraspIt! is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with GraspIt!.  If not, see <http://www.gnu.org/licenses/>.
//
// Author(s): Matei T. Ciocarlie
//
// $Id: compliantPlannerDlg.h,v 1.8 2009/05/07 19:59:21 cmatei Exp $
//
//######################################################################

#ifndef _compliantplannerdlg_h_
#define _compliantplannerdlg_h_

#include <QDialog>
#include <list>
#include <fstream>

#include "ui_compliantPlannerDlg.h"

#include "matvec3D.h"

class ListPlanner;
class Hand;
class GraspableBody;
class GraspPlanningState;


class CompliantPlannerDlg : public QDialog, public Ui::CompliantPlannerDlgUI
{
        Q_OBJECT
private:
        ListPlanner *mPlanner;
        Hand *mHand;
        GraspableBody *mObject;
        int mNumCandidates;
        int mBestGraspNum;
        transf mObjectRefTran;
        std::fstream *mOut;

        double mTFrom, mTTo, mTStep, mTR;
        double mSFrom, mSTo, mSStep, mSR;
        bool mBatch;

        void ellipsoidSampling(double a, double b, double c, double resolution);
        void boxSampling(double a, double b, double c, double res);
        void sampleFace(vec3 x, vec3 y, vec3 z, double sz1, double sz2, vec3 tln, double res,
                                        std::list<GraspPlanningState*> *sampling);

        void gridEllipsoidSampling(const GraspPlanningState &seed,
                                                       std::list<GraspPlanningState*> *sampling, int samples);
        void addCartesianSamples(const GraspPlanningState &seed, std::list<GraspPlanningState*> *sampling, 
                                                         int samples, double x, double y, double z);
        void init();
        void showResult();
        void startPlanner();
public:
        CompliantPlannerDlg(Hand *h, GraspableBody *gb, QWidget *parent = 0) : 
            QDialog(parent), mHand(h), mObject(gb) {
                setupUi(this);
                QObject::connect(generateButton, SIGNAL(clicked()), 
                                                 this, SLOT(generateButtonClicked()));
                QObject::connect(testButton, SIGNAL(clicked()), 
                                                 this, SLOT(testButtonClicked()));
                QObject::connect(testOneButton, SIGNAL(clicked()),
                                                 this, SLOT(testOneButtonClicked()));
                QObject::connect(nextButton, SIGNAL(clicked()), 
                                                 this, SLOT(nextButtonClicked()));
                QObject::connect(prevButton, SIGNAL(clicked()), 
                                                 this, SLOT(prevButtonClicked()));
                QObject::connect(bestButton, SIGNAL(clicked()), 
                                                 this, SLOT(bestButtonClicked()));
                QObject::connect(designTestButton, SIGNAL(clicked()), 
                                                 this, SLOT(designTestButtonClicked()));
                QObject::connect(showOneButton, SIGNAL(clicked()), 
                                                 this, SLOT(showOneButtonClicked()));
                QObject::connect(prepareOneButton, SIGNAL(clicked()), 
                                                 this, SLOT(prepareOneButtonClicked()));
                QObject::connect(visualMarkersBox, SIGNAL(clicked()), 
                                                 this, SLOT(visualMarkersBoxClicked()));
                QObject::connect(resetObjectButton, SIGNAL(clicked()), 
                                                 this, SLOT(resetObjectButtonClicked()));
                QObject::connect(resultsFileEdit, SIGNAL(editingFinished()),
                                                 this, SLOT(updateOut()));
                QObject::connect(resultsBox, SIGNAL(activated(int)), 
                                                 this, SLOT(updateOut()));
                init();
        }
        ~CompliantPlannerDlg();

public slots:
        void generateButtonClicked();
        void testButtonClicked();
        void testOneButtonClicked();
        void nextButtonClicked();
        void prevButtonClicked();
        void bestButtonClicked();
        void update();
        void plannerFinished();
        void showOneButtonClicked();
        void prepareOneButtonClicked();
        void visualMarkersBoxClicked();
        void resetObjectButtonClicked();
        void designTestButtonClicked();
        void updateOut();
};

#endif

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graspit
Author(s):
autogenerated on Wed Jan 25 10:58:53 2012