/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/mytools.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: mytools.h,v 1.13 2010/08/11 02:45:37 cmatei Exp $
//
//######################################################################

#ifndef _MY_TOOLS_HXX_
#define _MY_TOOLS_HXX_

#include <qmessagebox.h>
#include <qpixmap.h>
#include <QString>
#include <QTextStream>
#include <iostream>

class TiXmlElement;
class transf;
class matvecIO;
class vec3;

#define SUCCESS 0
#define FAILURE -1
#define TERMINAL_FAILURE -2

void show_errors(int, char* = NULL);

#ifndef MAX
#define MAX(A,B)        ((A) > (B) ? (A) : (B))
#endif

#ifndef MIN
#define MIN(A,B)        ((A) < (B) ? (A) : (B))
#endif

#ifndef ROUND
#define ROUND(A)        ((A) >= 0 ? (int)((A)+.5) : -(int)(.5-(A)))
#endif

//std::ostream& operator<< (std::ostream& os, QString& str)
//{
//      return os << str.latin1();
//}

inline void printQString(QString q)
{
  std::string str = q.toStdString();
  std::cerr << str << std::endl;
}

#ifndef BATCH_PROCESSING

#define QTWARNING(MSG_) QMessageBox::warning(NULL,"GraspIt!",MSG_,QMessageBox::Ok, \
                                                                                         Qt::NoButton,Qt::NoButton)
#else
//If batch processing is enabled we supress error messages that require user attention
//alternatively, we could redirect this into a log file
#define QTWARNING(MSG_) printQString(MSG_);
#endif

//for inlining only when building in release mode
#ifdef GRASPIT_RELEASE
#define INLINE_RELEASE inline
#else
#define INLINE_RELEASE
#endif

QPixmap load_pixmap(const QString &name);

//useful macros for standardizing error printing
#define pr_error(EXPR_)                         \
{                                               \
    fprintf(stderr,">>!>> ");                   \
    fprintf(stderr,EXPR_);                      \
    fprintf(stderr,"\n");                       \
}

// EXPR_ must be of the form: (stderr,"..%...%...%...",args)
#define pr_errArgs(EXPR_)                       \
{                                               \
    fprintf(stderr,">>!>> ");                   \
    fprintf EXPR_;                              \
    fprintf(stderr,"\n");                       \
}

int nextValidLine(QTextStream *stream, QString *line);

int nextCommentLine(QTextStream *stream, QString *line);

int findString(QTextStream *stream, QString target);

QString relativePath(QString absolutePath, QString relativeToDir);

const TiXmlElement* findXmlElement(const TiXmlElement *root, QString defStr);

std::list<const TiXmlElement*> findAllXmlElements(const TiXmlElement *root, QString defStr);

int countXmlElements(const TiXmlElement *root, QString defStr);

bool getDouble(const TiXmlElement *root, QString defStr, double& val);

bool getInt(const TiXmlElement *root, QString defStr, int& val);

bool getPosition(const TiXmlElement *root, vec3 &pos);

bool getTransform(const TiXmlElement *root,transf &totalTran);
#endif

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