/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/EGPlanner/searchEnergy.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): Matei T. Ciocarlie
//
// $Id: searchEnergy.h,v 1.27 2009/09/13 19:56:51 hao Exp $
//
//######################################################################

#ifndef _searchenergy_h_
#define _searchenergy_h_

#include <ostream>
#include <list>
#include <QObject>

#include "search.h"
#include "matvec3D.h"

class Hand;
class Body;
class QualityMeasure;
class GraspPlanningState;


class SearchEnergy : public QObject
{
        Q_OBJECT
protected:
        Hand *mHand; Body *mObject;
        QualityMeasure *mVolQual, *mEpsQual;
        SearchEnergyType mType;
        SearchContactType mContactType;
        bool mDisableRendering;

        mutable std::ostream *mOut;

        void createQualityMeasures();
        void setHandAndObject(Hand *h, Body *o);
        double contactEnergy() const;
        double potentialQualityEnergy(bool verbose = false) const;
        double guidedPotentialQualityEnergy() const;
        double autograspQualityEnergy() const;
        double approachAutograspQualityEnergy() const;
        double guidedAutograspEnergy() const;
        double strictAutograspEnergy() const;

        double dynamicAutograspEnergy() const;
        bool contactSlip() const;
        bool dynamicAutograspComplete() const;
        double compliantEnergy() const;

        double distanceFunction(double d) const;
        double potentialQualityScalingFunction(double dist, double cosTheta) const;

        double energy() const;
        bool legal() const;

        mutable bool mCompUnbalanced;
        mutable vec3 mMaxUnbalancedForce;
        mutable bool mDynamicsError;
private slots:
        void autoGraspStep(int numCols, bool &stopRequest) const;
        void dynamicsError(const char*) const;
public:
        SearchEnergy();
        ~SearchEnergy();

        void setType(SearchEnergyType t){mType = t;}
        void setContactType(SearchContactType t){mContactType = t;}
        double getEpsQual();
        double getVolQual();
        SearchContactType getContactType() const {return mContactType;}
        void disableRendering(bool dr){mDisableRendering = dr;}

        virtual void analyzeState(bool &isLegal, double &stateEnergy, const GraspPlanningState *state, bool noChange = true);
        virtual void analyzeCurrentPosture(Hand *h, Body *o, bool &isLegal, double &stateEnergy, bool noChange = true);

        void setStatStream(std::ostream *out) const {mOut = out;}
};

class ClosureSearchEnergy : public SearchEnergy
{
protected:
        const std::list<GraspPlanningState*> *mAvoidList;
        double mThreshold;
public:
        ClosureSearchEnergy() : SearchEnergy(), mAvoidList(NULL), mThreshold(0.3) {}

        void setThreshold(double t){mThreshold=t;}
        void setAvoidList(const std::list<GraspPlanningState*> *l){mAvoidList = l;}
        void analyzeState(bool &isLegal, double &stateEnergy, const GraspPlanningState *state, bool noChange = true);
};

#endif

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graspit
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autogenerated on Wed Jan 25 10:58:51 2012