/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/ui/graspCaptureDlg.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: graspCaptureDlg.h,v 1.12 2009/07/02 21:28:14 cmatei Exp $
//
//######################################################################

#ifndef _graspcapturedlg_h_
#define _graspcapturedlg_h_

#include <QDialog>
#include <list>

class World;
class GraspPlanningState;
class QualEpsilon;
class QualVolume;
class Hand;

#include "ui_graspCaptureDlg.h"
#include "ui_qualityIndicator.h"


class QualityIndicator : public QDialog, public Ui::QualityIndicatorUI
{
public:
        QualityIndicator(QWidget *parent=0) : QDialog(parent) {
                setupUi(this);
                qualityBar->setMinimum(0);
                qualityBar->setMaximum(100);
        }
        void setBar(double value) {
                qualityBar->setValue((value/0.25)*100);
                if (value > 0.0){
                        fcLabel->setEnabled(TRUE);
                } else {
                        fcLabel->setEnabled(FALSE);
                }
        }
};


class GraspCaptureDlg : public QDialog, public Ui::GraspCaptureDlgUI
{
        Q_OBJECT
private:
        World *mWorld;
        Hand *mCurrentHand;
        QualityIndicator *mIndicator;
        std::list<GraspPlanningState*> mGrasps;

        QualEpsilon *mQualEpsilon;
        QualVolume *mQualVolume;

        void updateNumGrasps();
        void init(World *w);

        bool checkHandSelection();
private slots:
        void captureButtonClicked();
        void saveToFileButtonClicked();
        void saveToDBaseButtonClicked();
        void clearListButtonClicked();
        void exitButtonClicked(){QDialog::accept();}
public:
        GraspCaptureDlg(World *w, QWidget *parent=0) : QDialog(parent) {
                setupUi(this);
                init(w);
                QObject::connect(captureButton, SIGNAL(clicked()), this, SLOT(captureButtonClicked()));
                QObject::connect(saveToFileButton, SIGNAL(clicked()), this, SLOT(saveToFileButtonClicked()));
                QObject::connect(saveToDBaseButton, SIGNAL(clicked()), this, SLOT(saveToDBaseButtonClicked()));
                QObject::connect(clearListButton, SIGNAL(clicked()), this, SLOT(clearListButtonClicked()));
                QObject::connect(exitButton, SIGNAL(clicked()), this, SLOT(exitButtonClicked()));
        }
        ~GraspCaptureDlg();
public slots:
        void updateQuality();
};

#endif

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