/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/DBase/tableCheckTask.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: tableCheckTask.h,v 1.1 2010/04/12 20:16:11 cmatei Exp $ 00023 // 00024 //###################################################################### 00025 00026 #ifndef _TABLECHECKTASK_H_ 00027 #define _TABLECHECKTASK_H_ 00028 00029 #include "preGraspCheckTask.h" 00030 00031 class Hand; 00032 class GraspableBody; 00033 class Body; 00034 namespace db_planner { 00035 class Grasp; 00036 } 00037 00039 00040 class TableCheckTask : public PreGraspCheckTask { 00041 private: 00042 00044 Body *mTable; 00045 00047 db_planner::PlanningTaskRecord mPlanningTask; 00048 00050 bool checkSetGrasp(db_planner::Grasp *grasp); 00051 00053 00054 double getTableClearance(db_planner::Grasp *grasp); 00055 00056 public: 00058 TableCheckTask(TaskDispatcher *disp, db_planner::DatabaseManager *mgr, 00059 db_planner::TaskRecord rec); 00060 00062 ~TableCheckTask(); 00063 00065 virtual void start(); 00066 }; 00067 00068 #endif