/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/DBase/graspit_db_model.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_model.h,v 1.10 2010/08/11 02:45:37 cmatei Exp $
//
//######################################################################

#ifndef _GRASPIT_DB_MODEL_ENTRY_H_
#define _GRASPIT_DB_MODEL_ENTRY_H_

#include "DBPlanner/model.h"

class World;
class GraspableBody;

class GraspitDBModel : public db_planner::Model{
protected:
        GraspableBody* mGraspableBody;
        bool mGeometryLoaded;

        virtual int loadGeometry();
public:
        GraspitDBModel() : mGraspableBody(NULL), mGeometryLoaded(false){}
        ~GraspitDBModel();
        int load(World* w);
        void unload();
        bool geometryLoaded() const {return mGeometryLoaded;}
        GraspableBody* getGraspableBody() const { return mGraspableBody; }
};

class GraspitDBModelAllocator : public db_planner::ModelAllocator
{
public:
        GraspitDBModelAllocator(){}
        db_planner::Model* Get() const {
                return new GraspitDBModel();
        }
};

namespace db_planner {class DatabaseManager;}


class GeomGraspitDBModel : public GraspitDBModel
{
private:
  db_planner::DatabaseManager *mManager;
  virtual int loadGeometry();
public:
  GeomGraspitDBModel(db_planner::DatabaseManager* manager) : GraspitDBModel(), mManager(manager) {}
};

class GeomGraspitDBModelAllocator : public db_planner::ModelAllocator
{
private:
  db_planner::DatabaseManager *mManager;
public:
  GeomGraspitDBModelAllocator(db_planner::DatabaseManager *manager) : mManager(manager) {}

  db_planner::Model* Get() const {
    return new GeomGraspitDBModel(mManager);
  }
};

#endif

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graspit
Author(s):
autogenerated on Wed Jan 25 10:58:52 2012