/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/m7tool.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 "m7tool.h" 00031 #include "world.h" 00032 00033 int 00034 M7Tool::loadFromXml(const TiXmlElement* root,QString rootPath) 00035 { 00036 int result = Robot::loadFromXml(root, rootPath); 00037 if (result != SUCCESS) return result; 00038 //toggle off collision detections 00039 myWorld->toggleCollisions(false, chainVec[0]->getLink(0), chainVec[1]->getLink(0)); 00040 return result; 00041 } 00042 00043 void M7Tool::cloneFrom(Hand *original) 00044 { 00045 Hand::cloneFrom(original); 00046 //toggle off collision detections 00047 myWorld->toggleCollisions(false, chainVec[0]->getLink(0), chainVec[1]->getLink(0)); 00048 }