/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/graspitGUI.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/>.
//
// Author(s):  Andrew T. Miller 
//
// $Id: graspitGUI.h,v 1.5 2010/08/11 02:45:37 cmatei Exp $
//
//######################################################################

#ifndef GRASPITGUI_HXX

#include <string>
#include <vector>
#include <list>

class MainWindow;
class IVmgr;
class TaskDispatcher;
class Application;
class Plugin;
class PluginCreator;
class SoIdleSensor;
class SoSensor;


class GraspItGUI
{
  MainWindow *mainWindow;

  IVmgr *ivmgr;

  TaskDispatcher *mDispatch;

  static bool initialized;

  static int initResult;

  int mExitCode;
  
  std::list< std::pair<Plugin*,std::string> > mActivePlugins;

  std::vector<PluginCreator*> mPluginCreators;

  SoIdleSensor *mPluginSensor;

 protected:
  int processArgs(int argc, char **argv);

 public:
  GraspItGUI(int argc,char **argv);
  ~GraspItGUI();

  bool terminalFailure() const;

  int getExitCode() const {return mExitCode;}

  MainWindow *getMainWindow() const {return mainWindow;}

  IVmgr *getIVmgr() const {return ivmgr;}

  static void sensorCB(void *data, SoSensor*);
  
  void processPlugins();

  void startPlugin(PluginCreator* creator, std::string args);

  void stopPlugin(Plugin *plugin);

  void stopAllPlugins();

  void startMainLoop();
  void exitMainLoop();
};

extern GraspItGUI *graspItGUI;

#define GRASPITGUI_HXX
#endif

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graspit
Author(s):
autogenerated on Wed Jan 25 10:58:51 2012