graspit: /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/optimizer/optimizerDlg.cpp Source File

00001 //######################################################################
00002 //
00003 // GraspIt!
00004 // Copyright (C) 2002-2009  Columbia University in the City of New York.
00005 // All rights reserved.
00006 //
00007 // This software is protected under a Research and Educational Use
00008 // Only license, (found in the file LICENSE.txt), that you should have
00009 // received with this distribution.
00010 //
00011 // Author(s): Matei T. Ciocarlie
00012 //
00013 // $Id: optimizerDlg.cpp,v 1.3 2009/07/02 22:06:55 cmatei Exp $
00014 //
00015 //######################################################################
00016 
00017 #include "optimizerDlg.h"
00018 
00019 #include "eigenTorques.h"
00020 #include "world.h"
00021 #include "graspitGUI.h"
00022 #include "ivmgr.h"
00023 
00024 #include "debug.h"
00025 
00026 OptimizerDlg::OptimizerDlg(World *w, QWidget *parent) : QDialog(parent), mWorld(w) 
00027 {
00028         setupUi(this);
00029         QObject::connect(exitButton, SIGNAL(clicked()), this, SLOT(exitButtonClicked()));
00030         QObject::connect(torqueButton, SIGNAL(clicked()), this, SLOT(torqueButtonClicked()));
00031 }
00032 
00033 void
00034 OptimizerDlg::torqueButtonClicked()
00035 {
00036 #ifdef CGDB_ENABLED
00037         if (!mWorld->getCurrentHand()) {
00038                 DBGA("No hand selected");
00039                 return;
00040         }
00041         if (!graspItGUI->getIVmgr()->getDBMgr()) {
00042                 DBGA("Connect to database first");
00043                 return;
00044         }
00045         CGDBGraspProcessor eigenTorques(mWorld->getCurrentHand());
00046         DBGA("CGDBGraspProcessor constructed");
00047         eigenTorques.run();
00048         DBGA("CGDBGraspProcessor done");
00049 #else
00050         DBGA("Optimizer needs the CGDB");
00051 #endif
00052 }