/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/DBase/graspit_db_planner.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_planner.h,v 1.5 2009/05/07 19:53:41 cmatei Exp $
//
//######################################################################

#ifndef _GRASPIT_DB_PLANNER_H_
#define _GRASPIT_DB_PLANNER_H_
#include <ostream>
#include <vector>
#include <QObject>
#include <QString>
#include "matvec3D.h"
#include "DBPlanner/aligner.h"

class Hand;
class GraspableBody;
class GraspitDBGrasp;
class GraspitDBModel;
class QualEpsilon;
class QualVolume;
class GraspPlanningState;

namespace db_planner {
        class DatabaseManager;
        class Model;
        class Grasp;
}

class GraspitDBPlanner : public QObject{
        Q_OBJECT
public:
        enum DynamicCode{DYNAMIC_SUCCESS=0, DYNAMIC_NO_FC=1, DYNAMIC_OBJECT_EJECTED=2, DYNAMIC_ERROR=3, DYNAMIC_APPROACH_FAILED=4, NO_DYNAMICS=5};
        enum TestType{STATIC=0, DYNAMIC=1};
private:
        Hand *mHand;
        db_planner::Model *mObject;
        db_planner::DatabaseManager *mDBMgr;
        db_planner::Aligner<db_planner::Model> *mAligner;
        std::vector<GraspPlanningState*> mTestedGrasps;
        bool mDynamicsError;
        QualEpsilon* mEpsQual;
        QualVolume* mVolQual;

        bool moveHandOutOfCollision();
        void moveBy(vec3 v);
        bool checkDynBody();
        void dynamicBodyInit();
        bool testGraspStatic();
        bool testGraspDynamic(DynamicCode *code);

public slots:
        void dynamicsError(const char*);

public:
        // initialzie a planner
        GraspitDBPlanner(Hand *h,
                                         db_planner::Model *b,
                                         db_planner::DatabaseManager *m,
                                         db_planner::Aligner<db_planner::Model> *a) :
                                         mHand(h), mObject(b), mDBMgr(m), mAligner(a),
                                         mEpsQual(NULL), mVolQual(NULL) {}
        ~GraspitDBPlanner();

        bool testCurrentGrasp(TestType t, DynamicCode* c = NULL);
        bool testGrasps(TestType t, std::vector<db_planner::Grasp*>,
                                        std::vector<db_planner::Grasp*>* testedGraspList);
        void crossCorrelate(const std::vector<db_planner::Model*> testModels,
                                                std::vector<db_planner::Grasp*> graspList);

        void computeQuality(float& eq, float& vq);
};
#endif

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