/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/ui/gfoDlg.h
Go to the documentation of this file.00001 //###################################################################### 00002 // 00003 // GraspIt! 00004 // Copyright (C) 2002-2009 Columbia University in the City of New York. 00005 // All rights reserved. 00006 // 00007 // GraspIt! is free software: you can redistribute it and/or modify 00008 // it under the terms of the GNU General Public License as published by 00009 // the Free Software Foundation, either version 3 of the License, or 00010 // (at your option) any later version. 00011 // 00012 // GraspIt! is distributed in the hope that it will be useful, 00013 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00014 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00015 // GNU General Public License for more details. 00016 // 00017 // You should have received a copy of the GNU General Public License 00018 // along with GraspIt!. If not, see <http://www.gnu.org/licenses/>. 00019 // 00020 // Author(s): Matei T. Ciocarlie 00021 // 00022 // $Id: gfoDlg.h,v 1.3 2009/08/17 22:17:32 cmatei Exp $ 00023 // 00024 //###################################################################### 00025 00026 #ifndef _gfodlg_h_ 00027 #define _gfodlg_h_ 00028 00029 #include "ui_gfoDlg.h" 00030 #include <QDialog> 00031 00032 class Hand; 00033 class MainWindow; 00034 00036 00050 class GFODlg : public QDialog, public Ui::GFODlgUI 00051 { 00052 Q_OBJECT 00053 private: 00055 Hand *mHand; 00057 MainWindow *mMainWindow; 00059 void graspForceOptimization(int computation); 00061 void compliantEquilibriumOptimization(bool useDynamicForce); 00063 void tendonRouteOptimization(); 00065 void mcgripEquilibrium(); 00066 00068 void displayResults(int result); 00070 void runOptimization(); 00071 00072 00073 public: 00074 GFODlg(MainWindow *mw, Hand *h, QWidget *parent=0); 00075 ~GFODlg(); 00076 public slots: 00077 void exitButtonClicked(){QDialog::accept();} 00078 void optimizationOnBoxClicked(); 00080 void handConfigurationChanged(); 00081 }; 00082 00083 00084 #endif