/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/DBase/graspit_db_grasp.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):  Hao Dang and Matei T. Ciocarlie
//
// $Id: graspit_db_grasp.h,v 1.13 2010/01/13 23:03:37 cmatei Exp $
//
//######################################################################

#ifndef _GRASPIT_DB_GRASP_ENTRY_H_
#define _GRASPIT_DB_GRASP_ENTRY_H_
#include "DBPlanner/grasp.h"

#include <QString>
#include <vector>
#include <string>

#include "graspitGUI.h"
#include "world.h"
#include "ivmgr.h"

class GraspPlanningState;
class Hand;
class GraspitDBModel;

using std::string;
class GraspitDBGrasp : public db_planner::Grasp{
        GraspPlanningState *mPreGrasp, *mFinalGrasp;
        std::vector<double> mTestScores;
        Hand* mHand;

public:
        GraspitDBGrasp(const GraspitDBGrasp& grasp2);
        GraspitDBGrasp(Hand* h) : mHand(h), mPreGrasp(NULL), mFinalGrasp(NULL) {}
        ~GraspitDBGrasp();
        GraspPlanningState* getPreGraspPlanningState() { return mPreGrasp; }
        GraspPlanningState* getFinalGraspPlanningState() { return mFinalGrasp; }
        const GraspPlanningState* getPreGraspPlanningState() const { return mPreGrasp; }
        const GraspPlanningState* getFinalGraspPlanningState() const { return mFinalGrasp; }

        void addTestScore(double s) { mTestScores.push_back( s < 0 ? 0 : s); }
        double getTestScore(int i) { return mTestScores[i]; }
        int getNumTestScores() { return (int)mTestScores.size(); }
        double getTestAverageScore();
        bool Transform(const float array[16]);
        void setPreGraspPlanningState(GraspPlanningState* p);

        void setFinalGraspPlanningState(GraspPlanningState* p);
        virtual bool SetGraspParameters(const vector<double>& pregrasp_joints, 
                                                                        const vector<double>& pregrasp_position, 
                                                                        const vector<double>& grasp_joints,
                                                                        const vector<double>& grasp_position);
        const Hand *getHand() const {return mHand;}

        static QString getHandDBName(Hand* h);
        static QString getHandGraspitPath(QString handDBName);
};

class GraspitDBGraspAllocator : public db_planner::GraspAllocator
{
private:
        Hand *mHand;
public:
        GraspitDBGraspAllocator(Hand *h) : mHand(h) {}
        db_planner::Grasp* Get() const {
                return new GraspitDBGrasp(mHand);
        }
};

#endif

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graspit
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autogenerated on Wed Jan 25 10:58:52 2012