/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/DBase/dbasePlannerDlg.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: dbasePlannerDlg.h,v 1.8 2009/07/02 21:07:11 cmatei Exp $
//
//######################################################################

#ifndef _DBASEPLANNERDLG_H_
#define _DBASEPLANNERDLG_H_

#include "ui_dbasePlannerDlg.h"
#include <utility>
#include <QDialog>

#include "DBPlanner/neighbor_finder.h"
#include "DBPlanner/aligner.h"
#include "DBPlanner/grasp_ranker.h"
#include "DBPlanner/db_manager.h"

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

class Hand;
class GraspitDBPlanner;
class GraspableBody;
class GraspitDBModel;
class GraspPlanningState;

class DBasePlannerDlg : public QDialog, public Ui::DBasePlannerDlgUI
{
        Q_OBJECT        
private:
        db_planner::DatabaseManager *mDBMgr;
        db_planner::NeighborFinder<db_planner::Model> *mNeighborFinder;
        db_planner::GraspRanker *mGraspRanker;
        db_planner::Aligner<db_planner::Model> *mAligner;
        GraspitDBPlanner* mPlanner;
        std::vector<std::pair<db_planner::Model*, double> >mNeighbors;
        std::vector<db_planner::Grasp*>mOriginalGrasps;
        std::vector<db_planner::Grasp*>mTestedGrasps;
        db_planner::Model *mPlanningModel;
        db_planner::Model *mModelShown;
        Hand* mHand;
        int mCurrentOriginalGrasp;
        int mCurrentTestedGrasp;
        QGraphicsScene * mModelScene;
        bool neighborComboBoxInReconstruction;

        void init();
        void destroy();
        void initializeDistanceComboBox(std::vector<string>);
        void updateNeighborList();
        void updateModelImage(db_planner::Model*);
        void updateOriginalGraspInfo();
        void updateTestedGraspInfo();
        void show3DObject(bool isNbr = false);

        template <class vectorType, class treatAsType>
        void deleteVectorElements(std::vector<vectorType>& v);

        void previousGrasp(int& i, std::vector<db_planner::Grasp*> graspList);
        void nextGrasp(int& i, std::vector<db_planner::Grasp*> graspList);
        void showGrasp(db_planner::Grasp* grasp);
        void setGroupBoxEnabled(bool nbrGen, bool alignment, bool ranking, bool grasp, bool execute);

public:
        DBasePlannerDlg(QWidget *parent = 0, db_planner::DatabaseManager* dbm = NULL, 
                                    db_planner::Model* m = NULL, Hand* h = NULL) :
                                        QDialog(parent), mDBMgr(dbm), mPlanningModel(m), mModelShown(m), 
                                        mHand(h), mModelScene(NULL), mCurrentOriginalGrasp(0), 
                                        mCurrentTestedGrasp(0), neighborComboBoxInReconstruction(false), mAligner(NULL) {
                setupUi(this);
                QObject::connect(exitButton, SIGNAL(clicked()), this, SLOT(exitButton_clicked()));
                QObject::connect(getNeighborButton, SIGNAL(clicked()), this, SLOT(getNeighborButton_clicked()));
                QObject::connect(executeButton, SIGNAL(clicked()), this, SLOT(executeButton_clicked()));
                QObject::connect(retrieveGraspsButton, SIGNAL(clicked()), this, SLOT(retrieveGraspsButton_clicked()));
                QObject::connect(rankGraspsButton, SIGNAL(clicked()), this, SLOT(rankGraspsButton_clicked()));
                QObject::connect(previousGraspButton, SIGNAL(clicked()), this, SLOT(previousGraspButton_clicked()));
                QObject::connect(nextGraspButton, SIGNAL(clicked()), this, SLOT(nextGraspButton_clicked()));
                QObject::connect(createGWSButton, SIGNAL(clicked()), this, SLOT(createGWSButton_clicked()));
                QObject::connect(neighborComboBox, SIGNAL(currentIndexChanged(QString)), this, SLOT(modelChanged()));
                QObject::connect(alignmentMethodComboBox, SIGNAL(currentIndexChanged(QString)), this, SLOT(alignmentChanged()));
                QObject::connect(seeNeighborCheckBox, SIGNAL(stateChanged(int)), this, SLOT(neighborCheckBoxChanged()));
                QObject::connect(originalGraspRadioButton, SIGNAL(clicked()), this, SLOT(originalGraspRadioButton_clicked()));
                QObject::connect(testedGraspRadioButton, SIGNAL(clicked()), this, SLOT(testedGraspRadioButton_clicked()));
                init();
        }
        ~DBasePlannerDlg(){destroy();}

public slots:
        void exitButton_clicked();
        void getNeighborButton_clicked();
        void executeButton_clicked();
        void retrieveGraspsButton_clicked();
        void rankGraspsButton_clicked();
        void previousGraspButton_clicked();
        void nextGraspButton_clicked();
        void createGWSButton_clicked();
        void originalGraspRadioButton_clicked();
        void testedGraspRadioButton_clicked();

        void modelChanged();
        void neighborCheckBoxChanged();
        void alignmentChanged();
};

#endif

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autogenerated on Wed Jan 25 10:58:52 2012