/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/Planner/grasp_visualization.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_visualization.h,v 1.2 2009/03/25 22:10:24 cmatei Exp $ 00024 // 00025 //###################################################################### 00026 00027 /***************************************************************************/ 00028 /* FILE: grasp_visualization.h */ 00029 /* AUTHOR: Steffen Knoop */ 00030 /* DATE: 03-08-2002 */ 00031 /***************************************************************************/ 00032 00038 #ifndef GRASP_VISUALIZATION_H 00039 #define GRASP_VISUALIZATION_H 00040 00041 /* this defines only the size of the spheres that represent 00042 the quality measure */ 00043 #define GRASP_SPHERE_SIZE_FACTOR 50.0 00044 00046 00059 class grasp_representation 00060 { 00062 SoSeparator *parentSep; 00063 00065 SoSeparator *top; 00066 00068 SoSeparator *sep; 00069 00071 SoSeparator *thSep; 00072 00074 SoMaterial *material; 00075 00077 SoTransform *tranArrowSphere; 00078 00080 SoArrow *arrow; 00081 00083 SoSphere *sphere; 00084 00086 SoTransform *thRot; 00087 00089 SoArrow *thArrow; 00090 00092 bool visOn; 00093 00094 public: 00095 00096 grasp_representation(SbMatrix, SbMatrix, SoSeparator*); 00097 ~grasp_representation(); 00098 00099 void changeColor(double, double, double); 00100 void resetColor(); 00101 00102 void changeRadius(double); 00103 }; 00104 00105 00106 00107 #endif 00108 00109 /****************** 00110 Local Variables: 00111 mode:c++ 00112 End: 00113 ******************/ 00114