/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/Planner/grasp_presenter.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 // Authors: Steffen Knoop 00021 // Andrew T. Miller 00022 // 00023 // $Id: grasp_presenter.h,v 1.3 2009/03/25 22:10:24 cmatei Exp $ 00024 // 00025 //###################################################################### 00026 00027 /***************************************************************************/ 00028 /* FILE: grasp_presenter.h */ 00029 /* AUTHOR: Steffen Knoop */ 00030 /* DATE: 03-08-2002 */ 00031 /***************************************************************************/ 00032 00033 #ifndef __GRASP_PRESENTER_H__ 00034 #define __GRASP_PRESENTER_H__ 00035 00040 00041 00050 class grasp_presenter 00051 { 00052 private: 00053 00055 SoQtExaminerViewer *myViewer; 00056 00058 Hand *my_hand; 00059 00061 World *my_world; 00062 00064 IVmgr *ivmgr; 00065 00067 SoQtRenderArea *graspViewer; 00068 00070 std::list<plannedGrasp*> graspList; 00071 00073 std::list<plannedGrasp*>::iterator it_gr; 00074 00075 00076 int processing; 00077 00078 void updateGlobals(); 00079 void breakContacts(); 00080 void putHand(finalGraspPosition,bool); 00081 00082 00083 public: 00084 grasp_presenter(); 00085 ~grasp_presenter(); 00086 00087 void takeList(std::list<plannedGrasp*>); 00088 void showGrasp(int, bool); 00089 void chooseGrasp(); 00090 }; 00091 00092 00093 #endif 00094 00095 00096 00097 00098