/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/m7.cpp
Go to the documentation of this file.00001 //###################################################################### 00002 // 00003 // GraspIt! 00004 // Copyright (C) 2002-2008 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): Hao Dang (hd2181@columbia.edu) 00021 // 00022 // $Id: 00023 // 00024 //###################################################################### 00025 00030 #include "m7.h" 00031 #include "world.h" 00032 00033 int 00034 M7::loadFromXml(const TiXmlElement* root,QString rootPath) 00035 { 00036 int result = Robot::loadFromXml(root, rootPath); 00037 if (result != SUCCESS) return result; 00038 //toggle off all the collision detection between base and other links 00039 for(int i = 0; i < 2; ++i){ 00040 for(int j = 0; j < 6; ++j){ 00041 myWorld->toggleCollisions(false, base, chainVec[i]->getLink(j)); 00042 for(int k = j + 1; k < 6; ++k){ 00043 myWorld->toggleCollisions(false, chainVec[i]->getLink(j), chainVec[i]->getLink(k)); 00044 } 00045 } 00046 } 00047 00048 return result; 00049 } 00050 00051 void M7::cloneFrom(Hand *original) 00052 { 00053 Hand::cloneFrom(original); 00054 //toggle off all the collision detection between base and other links 00055 for(int i = 0; i < 2; ++i){ 00056 for(int j = 0; j < 6; ++j){ 00057 myWorld->toggleCollisions(false, base, chainVec[i]->getLink(j)); 00058 for(int k = j + 1; k < 6; ++k){ 00059 myWorld->toggleCollisions(false, chainVec[i]->getLink(j), chainVec[i]->getLink(k)); 00060 } 00061 } 00062 } 00063 }