/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/Planner/grasp_grasps.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/>.
//
// Authors: Steffen Knoop
//          Andrew T. Miller 
//
// $Id: grasp_grasps.h,v 1.2 2009/03/25 22:10:23 cmatei Exp $
//
//######################################################################

/***************************************************************************/
/*      FILE:     grasp_grasps.h                                           */
/*      AUTHOR:   Steffen Knoop                                            */
/*      DATE:     03-08-2002                                               */
/***************************************************************************/

#ifndef __GRASP_GRASPS_H__
#define __GRASP_GRASPS_H__

#define DIST_DIR_WEIGHT    5.0
#define DIST_FFD_WEIGHT    2.0
#define DIST_PRESH_WEIGHT  1.0

#include <list>
#include <vector>

class grasp_representation;
class GraspableBody;


class finalGraspPosition
{
private:
  transf finalTran;

    std::list<double> dof;

public:
    finalGraspPosition();
    finalGraspPosition(const finalGraspPosition&);
    ~finalGraspPosition();

    transf get_finalTran()const;
    void   set_finalTran(transf);
    
    std::list<double> get_dof()      const;
    void              add_dof(double);
    bool              change_dof(unsigned int, double);
};

/**********************/


class plannedGrasp
{
 private:
  cartesianGraspDirection myGraspDir;
  
  cartesian_coordinates fixedFingerDirection;
  
  finalGraspPosition finalGPos;
  
  //      /* reachability of GraspDirection for the platform, arm and hand */
  //      bool isReachable;
  
  double myQuality;
  
  preshape myPreshape;
  
  GraspableBody *myGraspableBody;
  
  grasp_representation *myCP;
  
 public:

    /* constructor, destructor */
    plannedGrasp();
    plannedGrasp(const plannedGrasp&);
    plannedGrasp(cartesianGraspDirection);
    ~plannedGrasp();

    /* return value: 0 <= val <= 1.0 */
    double distanceTo(plannedGrasp) const;

    /* access methods */
    cartesianGraspDirection get_graspDirection() const;
    void                    set_graspDirection(cartesianGraspDirection);
    
    cartesian_coordinates   get_fixedFingerDirection() const;
    void                    set_fixedFingerDirection(cartesian_coordinates);

    finalGraspPosition      get_finalGraspPosition() const;
    void                    set_finalGraspPosition(finalGraspPosition);

//      bool           get_isReachable()         const;
//      void           set_isReachable(bool);

    double         get_quality()                 const;
    void           set_quality(double);

    preshape       get_preshape()                const;
    void           set_preshape(preshape in);

    GraspableBody* get_graspableBody()           const;
    void           set_graspableBody(GraspableBody*);

    grasp_representation* get_graspRepresentation()  const;
    void                  set_graspRepresentation(grasp_representation*);
    void                  remove_graspRepresentation();
};


/*
  Two different versions are used because of the differences in the
  STL implementations
*/

#ifdef WIN32

struct compareGraspQM : public std::greater<plannedGrasp *>
{
  bool operator()(plannedGrasp *&, plannedGrasp *&) const;
};

#else

struct compareGraspQM : public std::less<plannedGrasp *>
{
  bool operator()(plannedGrasp *&, plannedGrasp *&) const;
};

#endif

/* This function is needed by the STL for sorting the grasp list 
   according to the qm */
//bool compareGraspQM(plannedGrasp*, plannedGrasp*);

#endif


/******************
   Local Variables:
   mode:c++
   End:
******************/

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autogenerated on Wed Jan 25 10:58:51 2012