/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/DBase/dbase_grasp.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: dbase_grasp.h,v 1.15 2009/05/08 23:41:43 hao Exp $
//
//######################################################################
#ifndef _DBASE_GRASP_H_
#define _DBASE_GRASP_H_

#include "stdio.h"
#include "qobject.h"
#include <fstream>

#include "scanSimulator.h"

class IVmgr;
class EGPlanner;
class Hand;
class Body;
class GraspableBody;
class GraspItGUI;
class GraspPlanningState;
class SoSensor;
class SoTimerSensor;

class DBaseBatchPlanner : public QObject
{
        Q_OBJECT
private:
        // a dexterous search will use child threads with autograsp energy
        // it is geared for multi-fingered hands
        // a gripper search is geared for a simpler SimAnn search even in the child threads
        // as it cares more about positioning the gripper than force-closure
        // (because for now force-closure is hard to compute correctly with only 2 contacts)
        enum Type{DEXTEROUS=0, GRIPPER=1};
        
        Type mType;
        GraspableBody *mObject;
        Hand *mHand;
        IVmgr *ivmgr;
        GraspItGUI *mGui;
        EGPlanner *mPlanner;
        //maybe one day we'll use streams here...
        FILE *mResultFile;
        //yes - breaking new ground! stream!
        std::fstream mLogStream;
        char *mScanDirectory;
        double mMaxTime;
        void usage();
        void processSolution(const GraspPlanningState *sol);
        void writeContactsToFile(Hand *hand, Body *object);
        void takeScans();
        static void sensorCB(void *data,SoSensor*);
        SoTimerSensor *mTimerSensor;
        int numOfGrasps;
        int numOfGraspsGoal;
        double energyConstraint;

        void writeCloudToFile( int i, int j, const std::vector<position> &cloud);
        void writeRawToFile( int i, int j, const std::vector<RawScanPoint> &rawData, 
                             vec3 loc, vec3 dir, vec3 up);
        void writeSolutionsToFile(FILE *f);


public slots:
        //this slot gets called every time the inner planner calls update
        void plannerUpdate();
        //this one gets called when the inner planner stops
        void plannerComplete();
public:
        DBaseBatchPlanner(IVmgr *mgr, GraspItGUI *gui);
        ~DBaseBatchPlanner();
        bool processArguments(int argc, char **argv);
        bool startPlanner();
};

#endif

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graspit
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autogenerated on Wed Jan 25 10:58:52 2012