/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/optimizer/eigenTorques.h

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//######################################################################
//
// GraspIt!
// Copyright (C) 2002-2009  Columbia University in the City of New York.
// All rights reserved.
//
// This software is protected under a Research and Educational Use
// Only license, (found in the file LICENSE.txt), that you should have
// received with this distribution.
//
// Author(s): Matei T. Ciocarlie
//
// $Id: eigenTorques.h,v 1.5 2009/09/12 00:14:17 cmatei Exp $
//
//######################################################################

#ifndef _eigentorques_h_
#define _eigentorques_h_

#include <vector>

#include "matrix.h"

namespace db_planner{
        class DatabaseManager;
        class Grasp;
}
class Hand;
class McGrip;

class GraspProcessor {
protected:
        Hand *mHand;
public:
        GraspProcessor(Hand *h) : mHand(h) {}
        virtual ~GraspProcessor(){}

        virtual void reset(){}
        virtual void processGrasp() = 0;
        virtual void finalize() = 0;
};

class CGDBGraspProcessor
{
private:
        Hand *mHand;
        GraspProcessor* mProcessor;
        int mMaxGrasps;
        int mProcessedGrasps;
        db_planner::DatabaseManager *mDbMgr;

        void processGrasps(std::vector<db_planner::Grasp*> *grasps);
public:
        CGDBGraspProcessor(Hand *h);
        ~CGDBGraspProcessor(){delete mProcessor;}
        void run();
        void reset(){mProcessedGrasps = 0; mProcessor->reset();}
};

class EigenTorqueComputer : public GraspProcessor
{
private:
        int mNumOptimal, mNumUnfeasible, mNumErrors;
        std::vector<Matrix> mOptimalTorques;
public:
        EigenTorqueComputer(Hand *h) : GraspProcessor(h){}
        virtual void reset();
        virtual void processGrasp();
        virtual void finalize();
};

class McGripAnalyzer : public GraspProcessor
{
private:
        FILE *fp;
public:
        McGripAnalyzer(Hand *h) : GraspProcessor(h) {}

        virtual void reset(){
                fp = fopen("McGripAnalysis.txt","w");
        }
        virtual void processGrasp();
        virtual void finalize(){
                fclose(fp);
        }
};

class McGripOptimizer : public GraspProcessor
{
private:
        std::list<Matrix*> JTD_negI_list;
        std::list<Matrix*> NegB_list;
        std::list<Matrix*> Th_list;
        std::list<Matrix*> GO_list;
        std::list<Matrix*> FO_list;
        std::list<Matrix*> SO_list;
        std::list<Matrix*> lowerBounds_list;
        std::list<Matrix*> upperBounds_list;

        void clearList(std::list<Matrix*> &list);
        void printList(const std::list<Matrix*> &list, FILE *fp);
public:
        McGripOptimizer(Hand *h) : GraspProcessor(h) {}
        virtual ~McGripOptimizer(){reset();}

        virtual void reset();

        virtual void processGrasp();

        virtual void finalize();
};

#endif

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