/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/ivmgr.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 
//
// $Id: ivmgr.h,v 1.20 2009/06/16 19:29:41 cmatei Exp $
//
//######################################################################

#ifndef IVMGR_HXX
#include <Inventor/SbBasic.h>
#include <Inventor/SbLinear.h>
#include <list>
#include <vector>
#include <qstring.h>
#include <qwidget.h>
#include "material.h"

#include <Inventor/Qt/viewers/SoQtExaminerViewer.h>

struct VCReportType;
class SbVec3f;
class transf;
class position;

class QWidget;
class SoQtExaminerViewer;
class SoBlinker;
class SoCenterballDragger;
class SoHandleBoxDragger;
class SoTranslate1Dragger;
class SoRotateDiscDragger;
class SoDragger;
class SoMaterial;
class SoPath;
class SoPickedPoint;
class SoScale;
class SoSelection;
class SoSeparator;
class SoText2;
class SoTransform;
class SoEventCallback;
class SoSensor;
class SoNodeSensor;
class SoQtRenderArea;
class World;
class WorldElement;
class Robot;
class HumanHand;
class KinematicChain;
class DOF;
class GraspableBody;
class Body;
class Finger;
class Grasp;
class GWS;
class GWSprojection;
class QualityMeasure;
struct DraggerInfo;

namespace db_planner {
        class DatabaseManager;
}

#define HANDS_DIR "../../hands/"
#define OBJECTS_DIR "../../objects/"
#define MAX_POLYTOPES 15
#define MAX_COLLISIONS 5

typedef double col_Mat4[4][4];


class StereoViewer : public SoQtExaminerViewer {
protected:
        bool stereoOn;
        void computeSeekFinalOrientation();
public:
        void setStereo(bool s);
        bool isStereoOn(){return stereoOn;}
        StereoViewer(QWidget *parent);
        float mFocalPlane;
};

enum ToolType {TRANSLATE_TOOL,ROTATE_TOOL,SELECT_TOOL};


class IVmgr : public QWidget {
  Q_OBJECT

 private:
  static IVmgr *ivmgr;

  World *world;

  FILE *camerafp;

  const char *imgSeqStr;

  int imgSeqCounter;

  ToolType currTool;

  SbBool CtrlDown;

  SbBool ShiftDown;

  SoSeparator *pointers;

  std::vector<SoBlinker*> contactForceBlinkerVec;

  //SoQtExaminerViewer *myViewer;
  StereoViewer *myViewer;

  SoSeparator *sceneRoot;

  SoSelection *selectionRoot;

  SoSeparator *draggerRoot;

  SoSeparator *wireFrameRoot;

  SoSeparator *junk;

  SoMaterial *dynForceMat;

  db_planner::DatabaseManager *mDBMgr;

  void setupPointers();
  void transRot(DraggerInfo *dInfo);
  void revoluteJointChanged(DraggerInfo *dInfo);
  void revoluteJointFinished(DraggerInfo *dInfo);
  void revoluteJointClicked(DraggerInfo *dInfo);  
  void prismaticJointChanged(DraggerInfo *dInfo);
  void makeCenterball(WorldElement *selectedElement,Body *surroundMe);
  void makeHandleBox(WorldElement *selectedElement,Body *surroundMe);
  void makeJointDraggers(Robot *robot,KinematicChain *chain);
  void drawWireFrame(SoSeparator *elementRoot);
  SoPath *pickFilter(const SoPickedPoint *pick);
  void handleSelection(SoPath* p);
  void handleDeselection(SoPath* p);  
  void deleteSelections();
  void setCtrlDown(SbBool status) {CtrlDown = status;}
  void setShiftDown(SbBool status) {ShiftDown = status;}
  void spaceBar();
  void keyPressed(SoEventCallback *eventCB);

  void drawBodyWrench(GraspableBody *body, const double *wrench);

  static void transRotCB(void *dInfo,SoDragger *dragger);

  static void revoluteJointChangedCB(void *dInfo,SoDragger *dragger);
  
  static void revoluteJointClickedCB(void *dInfo,SoDragger *dragger);

  static void revoluteJointFinishedCB(void *dInfo,SoDragger *dragger);

  static void prismaticJointChangedCB(void *dInfo,SoDragger *dragger);

  static void shiftOrCtrlDownCB(void *,SoEventCallback *eventCB);

  static void keyPressedCB(void *,SoEventCallback *eventCB);

  static void selectionCB(void *,SoPath *p);

  static void deselectionCB(void *,SoPath *p);

  static SoPath *pickFilterCB(void *,const SoPickedPoint *pick);

public slots:
  void drawDynamicForces();
  void drawWorstCaseWrenches();
  void drawUnbalancedForces();
  void saveNextImage();
  void saveCameraPos();
  void restoreCameraPos();

public:
  IVmgr(QWidget *parent=0,const char *name=0,Qt::WFlags f=0);
  ~IVmgr();

  void deselectBody(Body *b);

  World *getWorld() const {return world;}

  StereoViewer *getViewer() const {return myViewer;}  

  SoSeparator *getPointers() const {return pointers;}

  void setTool(ToolType newTool);
  void emptyWorld();
  void hilightObjContact(int contactNum);
  void unhilightObjContact(int contactNum);

  void saveImageSequence(const char *fileStr);
  int saveCameraPositions(const char *filename);
  int useSavedCameraPositions(const char *filename);
  void setCamera(double px, double py, double pz, double q1, double q2, double q3, double q4, double fd);
  void getCamera(float &px, float &py, float &pz, float &q1, float &q2, float &q3, float &q4, float &fd);
  void setCameraTransf(transf tr);
  transf getCameraTransf();

  void saveImage(QString filename);
  void beginMainLoop();

  void setStereo(bool s);
  void flipStereo();

  db_planner::DatabaseManager* getDBMgr(){return mDBMgr;}
#ifdef CGDB_ENABLED
  void setDBMgr(db_planner::DatabaseManager *mgr){mDBMgr = mgr;}
#else
  void setDBMgr(db_planner::DatabaseManager*){}
#endif
  void setStereoWindow(QWidget *parent);
};
#define IVMGR_HXX
#endif

---

graspit
Author(s):
autogenerated on Wed Jan 25 10:58:51 2012