/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/graspRecord.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: graspRecord.h,v 1.6 2009/04/21 14:53:07 cmatei Exp $ 00023 // 00024 //###################################################################### 00025 00026 #ifndef _GRASPRECORD_H_ 00027 #define _GRASPRECORD_H_ 00028 00029 #include <QString> 00030 #include <vector> 00031 00032 #include "matvec3D.h" 00033 #include "gloveInterface.h" 00034 00035 class CalibrationPose; 00036 00038 00046 class GraspRecord 00047 { 00048 private: 00049 int mSize; 00050 public: 00051 GraspRecord(int size); 00052 ~GraspRecord(); 00053 00054 CalibrationPose *mPose; 00055 QString mObjectName; 00056 QString mRobotName; 00057 transf mTran; 00058 00059 //modified to DBase project 00060 double quality; 00061 int originalIndex; 00062 00063 void writeToFile(FILE *fp); 00064 void readFromFile(FILE *fp); 00065 }; 00066 00067 void loadGraspListFromFile(std::vector<GraspRecord*> *list, const char *filename); 00068 void writeGraspListToFile (std::vector<GraspRecord*> *list, const char *filename); 00069 00070 #endif