/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/EGPlanner/searchStateImpl.h
Go to the documentation of this file.00001 //###################################################################### 00002 // 00003 // GraspIt! 00004 // Copyright (C) 2002-2009 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): Matei T. Ciocarlie 00021 // 00022 // $Id: searchStateImpl.h,v 1.4 2009/05/07 19:57:46 cmatei Exp $ 00023 // 00024 //###################################################################### 00025 00026 #ifndef _HandObjectStateimpl_h_ 00027 #define _HandObjectStateimpl_h_ 00028 00029 #include "searchState.h" 00030 00052 00053 class PostureStateEigen : public PostureState 00054 { 00055 protected: 00056 void createVariables(); 00057 public: 00058 PostureStateEigen(const Hand *h) : PostureState(h){createVariables();} 00059 StateType getType() const {return POSE_EIGEN;} 00060 void getHandDOF(double *dof) const; 00061 void storeHandDOF(const double *dof); 00062 }; 00063 00065 class PostureStateDOF : public PostureState 00066 { 00067 protected: 00068 void createVariables(); 00069 public: 00070 PostureStateDOF(const Hand *h) : PostureState(h){createVariables();} 00071 StateType getType() const {return POSE_DOF;} 00072 void getHandDOF(double *dof) const; 00073 void storeHandDOF(const double *dof); 00074 }; 00075 00077 00081 class PositionStateComplete : public PositionState 00082 { 00083 protected: 00084 void createVariables(); 00085 public: 00086 PositionStateComplete(const Hand *h) : PositionState(h){createVariables();} 00087 StateType getType() const {return SPACE_COMPLETE;} 00088 transf getCoreTran() const; 00089 void setTran(const transf &t); 00090 }; 00091 00093 00097 class PositionStateAA : public PositionState 00098 { 00099 protected: 00100 void createVariables(); 00101 public: 00102 PositionStateAA(const Hand *h) : PositionState(h){createVariables();} 00103 StateType getType() const {return SPACE_AXIS_ANGLE;} 00104 transf getCoreTran() const; 00105 void setTran(const transf &t); 00106 }; 00107 00109 00115 class PositionStateEllipsoid : public PositionState 00116 { 00117 protected: 00118 void createVariables(); 00119 public: 00120 PositionStateEllipsoid(const Hand *h) : PositionState(h){createVariables();} 00121 StateType getType() const {return SPACE_ELLIPSOID;} 00122 transf getCoreTran() const; 00123 void setTran(const transf &t); 00124 }; 00125 00127 00133 class PositionStateApproach : public PositionState 00134 { 00135 protected: 00136 void createVariables(); 00137 public: 00138 PositionStateApproach(const Hand *h) : PositionState(h){createVariables();} 00139 StateType getType() const {return SPACE_APPROACH;} 00140 transf getCoreTran() const; 00141 void setTran(const transf &t); 00142 }; 00143 00144 #endif