/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/EGPlanner/egPlanner.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: egPlanner.h,v 1.27 2009/12/01 18:44:56 cmatei Exp $
//
//######################################################################

#ifndef _egplanner_h_
#define _egplanner_h_

#include <vector>
#include <list>
#include <ostream>
#include <time.h>

#include <QThread>
#include <QMutex>
#include <QObject>

#include "search.h"

class Hand;
class Body;
class GraspPlanningState;
class SoSensor;
class SearchEnergy;

namespace Profiling {
  class ProfileInstance;
}

enum PlannerState{INIT, READY, RUNNING, DONE, EXITED, STARTING_THREAD};

class EGPlanner : public QThread
{
        Q_OBJECT
protected:
        EGPlanner(){}

        void init();

        Hand *mHand;
        bool mUsesClone;

        mutable std::ostream *mOut;
        GraspPlanningState *mCurrentState;
        SearchEnergy *mEnergyCalculator;

        int mCurrentStep;
        int     mMaxSteps;
        bool mRepeat;

        int mRenderType, mRenderCount;
        const GraspPlanningState *mLastRenderState;


        void render();

        double mMaxTime;
        Profiling::ProfileInstance *mProfileInstance;

        GraspPlanningState *mTargetState;
        unsigned char mInputType;
        virtual bool processInput();

        virtual void resetParameters();

        virtual bool checkTerminationConditions();

        SoSensor *mIdleSensor;
        static void sensorCB(void *data,SoSensor*);

        bool mMultiThread;
        QMutex mControlMutex;
        virtual void run();
        virtual void threadLoop();

        PlannerState mState;
        void setState(PlannerState s);

        std::list<GraspPlanningState*> mBestList;
        bool addToListOfUniqueSolutions(GraspPlanningState *s, std::list<GraspPlanningState*> *list, double distance);
        virtual double stateDistance(const GraspPlanningState *s1, const GraspPlanningState *s2);

        virtual void mainLoop()=0;

signals:
        void update();

        void complete();

public:
        EGPlanner(Hand *h);
        virtual ~EGPlanner();
        virtual PlannerType getType()=0;
        
        virtual bool initialized(){return true;} 

        virtual bool resetPlanner();

        virtual void startPlanner();
        virtual void pausePlanner();
        virtual void stopPlanner();

        void createAndUseClone();

        virtual void showClone(bool s);

        void startThread();

        PlannerState getState();

        virtual bool isActive(){return getState()==RUNNING;}
        virtual bool isReady(){return getState()==READY;}

        void invalidateReset(){if (isReady()) setState(INIT);}

        virtual void setEnergyType(SearchEnergyType s);
        void setContactType(SearchContactType c);

        void setRenderType(RenderType r){mRenderType = r;}
        void setMaxSteps(int s){mMaxSteps=s;}
        void setRepeat(bool r){mRepeat = r;}
        void setMaxTime(int t){mMaxTime=t;}
        
        virtual const GraspPlanningState* getGrasp(int i);
        virtual void showGrasp(int i);
        virtual int getListSize(){return mBestList.size();}
        virtual void clearSolutions();

        int getCurrentStep(){return mCurrentStep;}
        Hand *getHand(){return mHand;}

        double getRunningTime();

        bool setInput(unsigned char input, bool on = true);
        GraspPlanningState *getTargetState(){return mTargetState;}
        unsigned char getInputType(){return mInputType;}

        void setStatStream(std::ostream *out) const;
};
#endif

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graspit
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autogenerated on Wed Jan 25 10:58:51 2012