/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/DBase/dbaseDlg.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):  Hao Dang and Matei T. Ciocarlie
//
// $Id: dbaseDlg.h,v 1.16 2010/02/11 18:37:14 cmatei Exp $
//
//######################################################################

#ifndef _dbasedlg_h_
#define _dbasedlg_h_

#include "ui_dbaseDlg.h"
#include <map>
#include <QDialog>

class GraspitDBGrasp;
class GraspitDBModel;
class Hand;

namespace db_planner {
        class DatabaseManager;
        class Model;
        class Grasp;
}

class DBaseDlg : public QDialog, public Ui::DBaseDlgUI
{
        Q_OBJECT
private:
        GraspitDBModel *mCurrentLoadedModel;
        QGraphicsScene * mModelScene;
        db_planner::DatabaseManager *mDBMgr;
        std::vector<db_planner::Model*> mModelList;
        std::map<std::string, int> mModelMap;
        std::vector<db_planner::Grasp*> mGraspList;
        int mCurrentFrame;
        bool inModelConstruction;

        void init();
        void destroy();
        void getModelList();
        void displayModelList();
        void displayGraspTypeList(std::vector<std::string>);
        template <class vectorType, class treatAsType> // ugly but...
        void deleteVectorElements(std::vector<vectorType>&);
        void showGrasp(int i);
        void nextGrasp();
        void previousGrasp();
        void updateGraspInfo();
        void initializeGraspInfo();

public:
        DBaseDlg(QWidget *parent = 0) : QDialog(parent), mCurrentLoadedModel(NULL), mDBMgr(NULL), 
                                                                        mModelScene(NULL), mCurrentFrame(0), 
                                                                        inModelConstruction(false) {
                setupUi(this);
                QObject::connect(exitButton, SIGNAL(clicked()), this, SLOT(exitButton_clicked()));
                QObject::connect(connectButton, SIGNAL(clicked()), this, SLOT(connectButton_clicked()));
                QObject::connect(loadModelButton, SIGNAL(clicked()), this, SLOT(loadModelButton_clicked()));
                QObject::connect(loadGraspButton, SIGNAL(clicked()), this, SLOT(loadGraspButton_clicked()));
                QObject::connect(nextGraspButton, SIGNAL(clicked()), this, SLOT(nextGraspButton_clicked()));
                QObject::connect(previousGraspButton, SIGNAL(clicked()), this, SLOT(previousGraspButton_clicked()));
                QObject::connect(plannerButton, SIGNAL(clicked()), this, SLOT(plannerButton_clicked()));
                QObject::connect(createGWSButton, SIGNAL(clicked()), this, SLOT(createGWSButton_clicked()));
                QObject::connect(sortButton, SIGNAL(clicked()), this, SLOT(sortButton_clicked()));
                QObject::connect(showMarkersBox, SIGNAL(clicked()), this, SLOT(showMarkers()));

                QObject::connect(modelsComboBox, SIGNAL(currentIndexChanged(QString)), this, SLOT(modelChanged()));
                QObject::connect(classesComboBox, SIGNAL(currentIndexChanged(QString)), this, SLOT(classChanged()));
                QObject::connect(showPreGraspRadioButton, SIGNAL(toggled(bool)), this, SLOT(graspTypeChanged()));
                QObject::connect(showFinalGraspRadioButton, SIGNAL(toggled(bool)), this, SLOT(graspTypeChanged()));

                init();
        }
        ~DBaseDlg(){destroy();}

public slots:
        void connectButton_clicked();
        void exitButton_clicked();
        void loadModelButton_clicked();
        void loadGraspButton_clicked(); 
        void nextGraspButton_clicked();
        void previousGraspButton_clicked();
        void plannerButton_clicked();
        void createGWSButton_clicked();
        void sortButton_clicked();
        void showMarkers();
        void modelChanged();
        void graspTypeChanged();
        void classChanged();
};
#endif

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graspit
Author(s):
autogenerated on Wed Jan 25 10:58:52 2012