/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/ui/sensorInputDlg.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: sensorInputDlg.h,v 1.3 2009/05/11 13:58:26 cmatei Exp $
//
//######################################################################

#ifndef _sensorinputdlg_h_
#define _sensorinputdlg_h_

#include <QDialog>

#include "matvec3D.h"

class SoSensor;
class SoTimerSensor;
class Flock;
class CyberGlove;
class World;

#include "ui_sensorInputDlg.h"


class SensorInputDlg : public QDialog, public Ui::SensorsDlgUI
{
        Q_OBJECT
public:

        enum FlockMode{FLOCK_RELATIVE, FLOCK_ABSOLUTE, FLOCK_CAMERA};
private:
        World *mWorld;
        bool mFlockRunning;
        bool mGloveRunning;
        SoTimerSensor *mTimerSensor;
        Flock *mFlock;
        CyberGlove *mGlove;
        FlockMode mFlockMode;
        FlockTransf mCameraFlockTran;
        int mNumBirds;
        int mMasterBird;

        void init(World *w);
        bool initFlock();
        bool initGlove();

        static void timerStaticCB(void *data, SoSensor*);
        void timerInternalCB();

        void processGlove();

        void processFlockBodies(std::vector<transf> &birdTransf);
        void processFlockCamera(std::vector<transf> &birdTransf);
        void processFlockRobots(std::vector<transf> &birdTransf);

        void flockAndGloveFuzzyGrasp(std::vector<transf> &birdTransf);

        transf SensorInputDlg::getBirdTran(int b);

private slots:
        void resetFlock();

public:
        SensorInputDlg(World *w, QWidget *parent = 0) : QDialog(parent) {
                setupUi(this);
                QObject::connect(exitButton, SIGNAL(clicked()), this, SLOT(exitButton_clicked()));
                QObject::connect(gloveStartButton, SIGNAL(clicked()), this, 
                                                 SLOT(gloveStartButton_clicked()));
                QObject::connect(flockStartButton, SIGNAL(clicked()), this, 
                                                 SLOT(flockStartButton_clicked()));
                QObject::connect(resetFlockButton, SIGNAL(clicked()), this, 
                                                 SLOT(resetFlock()));
                init(w);
        }

public slots:
        void exitButton_clicked();
        void gloveStartButton_clicked();
        void flockStartButton_clicked();
};

#endif

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graspit
Author(s):
autogenerated on Wed Jan 25 10:58:53 2012