/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/gws.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 and Matei T. Ciocarlie
//
// $Id: gws.h,v 1.9 2009/06/16 22:53:24 cmatei Exp $
//
//######################################################################

#ifndef GWS_H

#include <vector>
#include <set>
#include "matvec3D.h"

class Grasp;
struct coordT;


class GWS {
public:
  static const std::vector<int> ALL_DIMENSIONS;
protected:
        bool useGravity;

        vec3 gravDirection;

        int buildHyperplanesFromWrenches(void *wr, int numWrenches, 
                                                                         std::vector<int> useDimensions);

        void computeHyperplaneMetrics();

        void clearGWS();

 public:

  void setGravity(bool use, vec3 gd=vec3(0,0,0));

  Grasp *grasp;
  
  int numHyperPlanes;

  double **hyperPlanes;

  std::vector<int> mUsedDimensions;
  
  double hullArea;
  
  double hullVolume;

  bool forceClosure;

  int refCount;

  GWS(Grasp *g) : useGravity(false), grasp(g),numHyperPlanes(0),hyperPlanes(NULL),refCount(0) {}

  virtual ~GWS();

  Grasp *getGrasp() const {return grasp;}

  void ref() {refCount++;}

  void unref() {refCount--;}

  int getRefCount() {return refCount;}

  bool isForceClosure() {return forceClosure;}

  bool hasPositiveVolume(){ if (hullVolume>0) return true; return false;}

  virtual const char *getType() =0;

  virtual int build(std::vector<int> useDimensions = ALL_DIMENSIONS) = 0;

  virtual int projectTo3D(double *projCoords,std::set<int> fixedCoordSet,
                          std::vector<position> &hullCoords,
                          std::vector<int> &hullIndices);

  static const char *TYPE_LIST[];

  static GWS *createInstance(const char *type,Grasp *g);
};


class L1GWS : public GWS {

  static const char *type;

 public:

  L1GWS(Grasp *g) : GWS(g) {}

  int build(std::vector<int> useDimensions = ALL_DIMENSIONS);

  static const char *getClassType() {return type;}

  virtual const char *getType() {return type;}
};


class LInfGWS : public GWS {

  static const char *type;

 public:

  LInfGWS(Grasp *g) : GWS(g) {}
  //  virtual ~LInfGWS() {}

  int build(std::vector<int> useDimensions = ALL_DIMENSIONS);

  static const char *getClassType() {return type;}

  virtual const char *getType() {return type;}

};

#define GWS_H
#endif

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graspit
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autogenerated on Wed Jan 25 10:58:51 2012