/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/gwsprojection.h
Go to the documentation of this file.00001 //###################################################################### 00002 // 00003 // GraspIt! 00004 // Copyright (C) 2002-2009 Columbia University in the City of New York. 00005 // All rights reserved. 00006 // 00007 // GraspIt! is free software: you can redistribute it and/or modify 00008 // it under the terms of the GNU General Public License as published by 00009 // the Free Software Foundation, either version 3 of the License, or 00010 // (at your option) any later version. 00011 // 00012 // GraspIt! is distributed in the hope that it will be useful, 00013 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00014 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00015 // GNU General Public License for more details. 00016 // 00017 // You should have received a copy of the GNU General Public License 00018 // along with GraspIt!. If not, see <http://www.gnu.org/licenses/>. 00019 // 00020 // Author(s): Andrew T. Miller 00021 // 00022 // $Id: gwsprojection.h,v 1.5 2009/06/16 22:53:24 cmatei Exp $ 00023 // 00024 //###################################################################### 00025 00030 #include <set> 00031 class SoQtRenderArea; 00032 class SoQtExaminerViewer; 00033 class SoCoordinate3; 00034 class SoIndexedFaceSet; 00035 class SoSeparator; 00036 class QWidget; 00037 class GWS; 00038 00040 00048 class GWSprojection { 00049 00051 GWS *gws; 00052 00054 double projCoords[6]; 00055 00057 std::set<int> fixedCoordIndex; 00058 00060 QWidget *projWin; 00061 00063 SoQtRenderArea *projectionViewer; 00064 00066 SoSeparator *hullSep; 00067 00069 SoCoordinate3 *hullCoords; 00070 00072 SoIndexedFaceSet *hullIFS; 00073 00075 SoSeparator *sg; 00076 00077 void setWinTitle(); 00078 00079 public: 00080 00081 GWSprojection(SoQtExaminerViewer* mainViewer,GWS *g,double *c, std::set<int> whichFixed); 00082 ~GWSprojection(); 00083 00085 QWidget *getProjWin() const {return projWin;} 00086 00088 GWS *getGWS() const {return gws;} 00089 00091 SoSeparator * getGWSRoot() { return sg; } 00092 00093 void update(); 00094 void deleteHull(); 00095 };