/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/Planner/grasp_tester.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_tester.h,v 1.5 2009/03/25 22:10:24 cmatei Exp $
//
//######################################################################

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

#ifndef GRASP_TESTER_H
#define GRASP_TESTER_H

/* Minimum quality to accept grasp as stable. */
#define QUALITY_MIN_THRESHOLD 0.0

/* When a grasp is initially unstable, grasp_tester tries to
   step back from the object several times and determines the
   grasp quality there. This affects strongly the computing time. */
#define MAX_ITERATION_STEPS_PER_GRASP 20

/* Step size in mm when iterating backwards. */
#define BACK_ITERATION_STEP_SIZE 4.0

#define DEG_2_RAD M_PI/180.0

#include <QObject>
#include <QFile>

#include <QTextStream>

#include <vector>

#include "matvec3D.h"
#include "collisionStructures.h"
#include "grasp_directions.h"
#include "grasp_preshape.h"
#include "grasp_grasps.h"

class SoQtExaminerViewer;
class World;
class Hand;
class Grasp;
class GraspableBody;
class IVmgr;
class QualityMeasure;
class SoQtRenderArea;
class SoGroup;
class SoSensor;
class SoSeparator;
class Body;



class grasp_tester : public QObject
{
  Q_OBJECT

private:

  SoQtExaminerViewer *myViewer;

  World              *my_world;

  Hand               *my_hand;

  GraspableBody      *my_body;

  Grasp              *my_grasp;

  IVmgr                *ivmgr;

  int                  whichQM;

  bool                 saveToFile;

  QFile               graspFile;

  QTextStream         graspOut;

  SoQtRenderArea     *projectionViewer;

  SoGroup *primitives;

  CollisionReport colReport;

    std::list<plannedGrasp*>* graspList;

  bool render;

  std::list<plannedGrasp*>::iterator it_gr;

  transf origTran;

    double *dofs;
    
  SoSensor *idleSensor;

  SoSeparator        *glRoot;

  int nrOfGrasps;

  int actualGraspNr;

  int maxItStepNr;

  double backStepSize;

/*
 * methods
 */
  bool putIt(plannedGrasp *pg, bool render_in=false);
  bool preshapeIt(preshape p, bool render_in=false);
  bool moveIt(cartesianGraspDirection gd, bool render_in=false);
  
  //  int  moveTo(transf); 
  bool checkContactToHand(GraspableBody* gb);
  void orderGraspListByQuality(std::list<plannedGrasp*>& grl);
  void saveGrasp(double quality);
  
  void updateGlobals();
  void savePosition(plannedGrasp& pg);
  bool handCollision();
  
  bool iteration(plannedGrasp& pg);
  static void testItCB(void *,SoSensor *sensor);
  void testIt();
  
signals:
  void testingComplete();
  
public:
  grasp_tester();
  ~grasp_tester();
  
  void setupGraspVisWindow(GraspableBody* myBody,SoGroup *prim);
  void visualizePlannedGrasps(std::list<plannedGrasp*> grList);
  bool callTestIt(std::list<plannedGrasp*>& graspList_in, bool render_in);
  
  bool set_testingParameters(int itStepNr, double stepSize);
  void get_testingParameters(int& itStepNr, double& stepSize);

  void useQM(int qmNum) {whichQM = qmNum;}

  void saveGraspsToFile(const QString& filename,bool append);
  void continueTests();
  void pauseTests();
  
  //   struct timeval get_computingTime();
};


#endif

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

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graspit
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autogenerated on Wed Jan 25 10:58:51 2012