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00032 #ifndef PLANNING_SCENE_WAREHOUSE_H
00033 #define PLANNING_SCENE_WAREHOUSE_H
00034
00035 #include <termios.h>
00036 #include <signal.h>
00037 #include <cstdio>
00038 #include <cstdlib>
00039 #include <unistd.h>
00040 #include <math.h>
00041 #include <string>
00042 #include <map>
00043
00044 #include <ros/ros.h>
00045
00046 #include <move_arm_warehouse/move_arm_utils.h>
00047
00048 #include <qt4/QtGui/qwidget.h>
00049 #include <qt4/QtGui/qmenubar.h>
00050 #include <qt4/QtGui/qmenu.h>
00051 #include <qt4/QtGui/qprogressbar.h>
00052 #include <qt4/QtGui/qdialog.h>
00053 #include <qt4/QtGui/qtablewidget.h>
00054 #include <qt4/QtGui/qlayout.h>
00055 #include <qt4/QtGui/qpushbutton.h>
00056 #include <qt4/Qt/qthread.h>
00057 #include <qt4/QtGui/qslider.h>
00058 #include <qt4/QtGui/qspinbox.h>
00059 #include <qt4/QtGui/qlabel.h>
00060 #include <qt4/QtGui/qgroupbox.h>
00061 #include <qt4/QtGui/qcombobox.h>
00062 #include <qt4/QtGui/qcheckbox.h>
00063 #include <qt4/QtGui/qcolordialog.h>
00064 #include <qt4/QtGui/qtreewidget.h>
00065 #include <qt4/QtGui/qpalette.h>
00066 #include <qt4/QtGui/qformlayout.h>
00067 #include <qt4/QtGui/qlineedit.h>
00068 #include <qt4/QtGui/qfiledialog.h>
00069 #include <qt4/QtGui/qmessagebox.h>
00070 #include <qt4/QtGui/qmainwindow.h>
00071 #include <qt4/QtGui/qlistwidget.h>
00072 #include <QDateTime>
00073
00074 static const std::string VIS_TOPIC_NAME = "planning_scene_visualizer_markers";
00075
00076
00077 static const unsigned int CONTROL_SPEED = 5;
00078 static const std::string EXECUTE_RIGHT_TRAJECTORY = "/r_arm_controller/follow_joint_trajectory";
00079 static const std::string EXECUTE_LEFT_TRAJECTORY = "/l_arm_controller/follow_joint_trajectory";
00080 static const std::string LEFT_IK_NAME = "/pr2_left_arm_kinematics/get_constraint_aware_ik";
00081 static const std::string RIGHT_IK_NAME = "/pr2_right_arm_kinematics/get_constraint_aware_ik";
00082 static const std::string NON_COLL_LEFT_IK_NAME = "/pr2_left_arm_kinematics/get_ik";
00083 static const std::string NON_COLL_RIGHT_IK_NAME = "/pr2_right_arm_kinematics/get_ik";
00084 static const std::string RIGHT_ARM_GROUP = "right_arm";
00085 static const std::string LEFT_ARM_GROUP = "left_arm";
00086 static const std::string RIGHT_ARM_REDUNDANCY = "r_upper_arm_roll_joint";
00087 static const std::string LEFT_ARM_REDUNDANCY = "l_upper_arm_roll_joint";
00088 static const std::string LEFT_IK_LINK = "l_wrist_roll_link";
00089 static const std::string RIGHT_IK_LINK = "r_wrist_roll_link";
00090 static const std::string PLANNER_SERVICE_NAME = "/ompl_planning/plan_kinematic_path";
00091 static const std::string LEFT_INTERPOLATE_SERVICE_NAME = "/l_interpolated_ik_motion_plan";
00092 static const std::string RIGHT_INTERPOLATE_SERVICE_NAME = "/r_interpolated_ik_motion_plan";
00093 static const std::string TRAJECTORY_FILTER_SERVICE_NAME = "/trajectory_filter/filter_trajectory_with_constraints";
00094 static const std::string PROXIMITY_SPACE_SERVICE_NAME = "/collision_proximity_server_test/get_distance_aware_plan";
00095 static const std::string PROXIMITY_SPACE_VALIDITY_NAME = "/collision_proximity_server_test/get_state_validity";
00096 static const std::string PROXIMITY_SPACE_PLANNER_NAME = "/collision_proximity_planner/plan";
00097 static const std::string LIST_CONTROLLERS_SERVICE = "/pr2_controller_manager/list_controllers";
00098 static const std::string LOAD_CONTROLLERS_SERVICE = "/pr2_controller_manager/load_controller";
00099 static const std::string UNLOAD_CONTROLLERS_SERVICE = "/pr2_controller_manager/unload_controller";
00100 static const std::string SWITCH_CONTROLLERS_SERVICE = "/pr2_controller_manager/switch_controller";
00101 static const std::string GAZEBO_ROBOT_MODEL = "pr2";
00102 static const std::string ROBOT_DESCRIPTION_PARAM = "robot_description";
00103 static const ros::Duration PLANNING_DURATION = ros::Duration(5.0);
00104 static const std::string SET_PLANNING_SCENE_DIFF_NAME = "environment_server/set_planning_scene_diff";
00105
00109 class ParameterDialog: public QDialog
00110 {
00111 public:
00112 planning_scene_utils::PlanningSceneParameters params_;
00113 ParameterDialog(planning_scene_utils::PlanningSceneParameters params, QWidget* parent = NULL) :
00114 QDialog(parent)
00115 {
00116 params_ = params;
00117 setMinimumWidth(640);
00118 setup();
00119 }
00120
00124 void setup()
00125 {
00126 QGroupBox* groupBox = new QGroupBox(this);
00127 groupBox->setTitle("Planning Scene Editor Parameters");
00128 QVBoxLayout* boxLayout = new QVBoxLayout(this);
00129
00130 layout = new QFormLayout(groupBox);
00131 left_ik_name_ = new QLineEdit(groupBox);
00132 layout->addRow("Left IK Service", left_ik_name_);
00133 left_ik_name_->setText(QString::fromStdString(params_.left_ik_name_));
00134
00135 right_ik_name_ = new QLineEdit(groupBox);
00136 layout->addRow("Right IK Service", right_ik_name_);
00137 right_ik_name_->setText(QString::fromStdString(params_.right_ik_name_));
00138
00139 non_coll_left_ik_name_ = new QLineEdit(groupBox);
00140 layout->addRow("Non Collision-Aware Left IK Service", non_coll_left_ik_name_);
00141 non_coll_left_ik_name_->setText(QString::fromStdString(params_.non_coll_left_ik_name_));
00142
00143 non_coll_right_ik_name_ = new QLineEdit(groupBox);
00144 layout->addRow("Non Collision-Aware Right IK Service", non_coll_right_ik_name_);
00145 non_coll_right_ik_name_->setText(QString::fromStdString(params_.non_coll_right_ik_name_));
00146
00147 right_arm_group_ = new QLineEdit(groupBox);
00148 layout->addRow("Right Arm Group", right_arm_group_);
00149 right_arm_group_->setText(QString::fromStdString(params_.right_arm_group_));
00150
00151 left_arm_group_ = new QLineEdit(groupBox);
00152 layout->addRow("Left Arm Group", left_arm_group_);
00153 left_arm_group_->setText(QString::fromStdString(params_.left_arm_group_));
00154
00155 right_arm_redundancy_ = new QLineEdit(groupBox);
00156 layout->addRow("Right Arm Redundancy DOF", right_arm_redundancy_);
00157 right_arm_redundancy_->setText(QString::fromStdString(params_.right_redundancy_));
00158
00159 left_arm_redundancy_ = new QLineEdit(groupBox);
00160 layout->addRow("Left Arm Redundancy DOF", left_arm_redundancy_);
00161 left_arm_redundancy_->setText(QString::fromStdString(params_.left_redundancy_));
00162
00163 left_ik_link_ = new QLineEdit(groupBox);
00164 layout->addRow("Left IK Link", left_ik_link_);
00165 left_ik_link_ ->setText(QString::fromStdString(params_.left_ik_link_));
00166
00167 right_ik_link_ = new QLineEdit(groupBox);
00168 layout->addRow("Right IK Link", right_ik_link_);
00169 right_ik_link_->setText(QString::fromStdString(params_.right_ik_link_));
00170
00171 planner_service_name_ = new QLineEdit(groupBox);
00172 layout->addRow("Planner Service", planner_service_name_);
00173 planner_service_name_->setText(QString::fromStdString(params_.planner_service_name_));
00174
00175 left_interpolate_service_name_ = new QLineEdit(groupBox);
00176 layout->addRow("Left Interpolation Service", left_interpolate_service_name_);
00177 left_interpolate_service_name_->setText(QString::fromStdString(params_.left_interpolate_service_name_));
00178
00179 right_interpolate_service_name_ = new QLineEdit(groupBox);
00180 layout->addRow("Right Interpolation Service", right_interpolate_service_name_);
00181 right_interpolate_service_name_->setText(QString::fromStdString(params_.right_interpolate_service_name_));
00182
00183 trajectory_filter_service_name_ = new QLineEdit(groupBox);
00184 layout->addRow("Trajectory Filter Service", trajectory_filter_service_name_);
00185 trajectory_filter_service_name_ ->setText(QString::fromStdString(params_.trajectory_filter_service_name_));
00186
00187 proximity_space_service_name_ = new QLineEdit(groupBox);
00188 layout->addRow("Proximity Space Service", proximity_space_service_name_);
00189 proximity_space_service_name_ ->setText(QString::fromStdString(params_.proximity_space_service_name_));
00190
00191 proximity_space_validity_name_ = new QLineEdit(groupBox);
00192 layout->addRow("Proximity Space Validity Service", proximity_space_validity_name_);
00193 proximity_space_validity_name_ ->setText(QString::fromStdString(params_.proximity_space_validity_name_));
00194
00195 proximity_space_planner_name_ = new QLineEdit(groupBox);
00196 layout->addRow("Proximity Space Planner", proximity_space_planner_name_);
00197 proximity_space_planner_name_ ->setText(QString::fromStdString(params_.proximity_space_planner_name_));
00198
00199 execute_left_trajectory_ = new QLineEdit(groupBox);
00200 layout->addRow("Execute Left Trajectory", execute_left_trajectory_);
00201 execute_left_trajectory_ ->setText(QString::fromStdString(params_.execute_left_trajectory_));
00202
00203 execute_right_trajectory_ = new QLineEdit(groupBox);
00204 layout->addRow("Execute Right Trajectory", execute_right_trajectory_);
00205 execute_right_trajectory_ ->setText(QString::fromStdString(params_.execute_right_trajectory_));
00206
00207 use_robot_data_ = new QCheckBox(groupBox);
00208 use_robot_data_->setText("Use Robot Data");
00209 use_robot_data_->setChecked(params_.use_robot_data_);
00210 layout->addRow("Use Data From Simulated/Real Robot?", use_robot_data_);
00211 use_robot_data_->setToolTip("When this is checked, a robot state publisher will not be created. Instead, TF data\n\
00212 will be taken from the robot's actual state.");
00213 sync_with_gazebo_ = new QCheckBox(groupBox);
00214 sync_with_gazebo_->setText("Sync With Gazebo");
00215 sync_with_gazebo_->setChecked(false);
00216 sync_with_gazebo_->setToolTip("When this is checked, the warehouse viewer will attempt to set the robot state\n\
00217 to the start state of any motion plan requests played.");
00218 layout->addRow("Synchronize Robot State With Gazebo?", sync_with_gazebo_);
00219
00220 QPushButton* button = new QPushButton(groupBox);
00221 button->setText("Accept");
00222 button->setSizePolicy(QSizePolicy::Maximum, QSizePolicy::Maximum);
00223 connect(button, SIGNAL(clicked()), this, SLOT(accept()));
00224
00225 boxLayout->addWidget(groupBox);
00226 boxLayout->addWidget(button);
00227 groupBox->setLayout(layout);
00228 setLayout(boxLayout);
00229
00230 }
00231
00235 void updateParams()
00236 {
00237 params_.left_ik_name_ = left_ik_name_->text().toStdString();
00238 params_.right_ik_name_ = right_ik_name_->text().toStdString();
00239 params_.non_coll_left_ik_name_ = non_coll_left_ik_name_ ->text().toStdString();
00240 params_.non_coll_right_ik_name_ = non_coll_right_ik_name_ ->text().toStdString();
00241 params_.right_arm_group_ = right_arm_group_->text().toStdString();
00242 params_.left_arm_group_ = left_arm_group_ ->text().toStdString();
00243 params_.right_redundancy_ = right_arm_redundancy_->text().toStdString();
00244 params_.left_redundancy_ = left_arm_redundancy_->text().toStdString();
00245 params_.left_ik_link_ = left_ik_link_->text().toStdString();
00246 params_.right_ik_link_ = right_ik_link_->text().toStdString();
00247 params_.planner_service_name_ = planner_service_name_->text().toStdString();
00248 params_.left_interpolate_service_name_ = left_interpolate_service_name_->text().toStdString();
00249 params_.right_interpolate_service_name_ = right_interpolate_service_name_->text().toStdString();
00250 params_.trajectory_filter_service_name_ = trajectory_filter_service_name_->text().toStdString();
00251 params_.proximity_space_service_name_ = proximity_space_service_name_->text().toStdString();
00252 params_.proximity_space_validity_name_ = proximity_space_validity_name_->text().toStdString();
00253 params_.proximity_space_planner_name_ = proximity_space_planner_name_->text().toStdString();
00254 params_.execute_left_trajectory_ = execute_left_trajectory_->text().toStdString();
00255 params_.execute_right_trajectory_ = execute_right_trajectory_->text().toStdString();
00256 params_.use_robot_data_ = use_robot_data_->isChecked();
00257 params_.sync_robot_state_with_gazebo_ = sync_with_gazebo_->isChecked();
00258 }
00259
00260 private:
00261 QFormLayout* layout;
00262 QLineEdit* left_ik_name_;
00263 QLineEdit* right_ik_name_;
00264 QLineEdit* non_coll_left_ik_name_;
00265 QLineEdit* non_coll_right_ik_name_;
00266 QLineEdit* right_arm_group_;
00267 QLineEdit* left_arm_group_;
00268 QLineEdit* right_arm_redundancy_;
00269 QLineEdit* left_arm_redundancy_;
00270 QLineEdit* left_ik_link_;
00271 QLineEdit* right_ik_link_;
00272 QLineEdit* planner_service_name_;
00273 QLineEdit* left_interpolate_service_name_;
00274 QLineEdit* right_interpolate_service_name_;
00275 QLineEdit* trajectory_filter_service_name_;
00276 QLineEdit* proximity_space_service_name_;
00277 QLineEdit* proximity_space_validity_name_;
00278 QLineEdit* proximity_space_planner_name_;
00279 QLineEdit* execute_left_trajectory_;
00280 QLineEdit* execute_right_trajectory_;
00281 QCheckBox* use_robot_data_;
00282 QCheckBox* sync_with_gazebo_;
00283
00284 };
00285
00289 class WarehouseViewer: public QMainWindow, public planning_scene_utils::PlanningSceneEditor
00290 {
00291 Q_OBJECT
00292 public:
00294 bool quit_threads_;
00295
00299 class TableLoadThread: public QThread
00300 {
00301 public:
00302 WarehouseViewer* visualizer_;
00303 TableLoadThread(WarehouseViewer* visualizer) :
00304 QThread(visualizer), visualizer_(visualizer)
00305 {
00306 }
00307
00308 void run()
00309 {
00310 visualizer_->createPlanningSceneTable();
00311 }
00312 };
00313
00314 WarehouseViewer(QWidget* parent, planning_scene_utils::PlanningSceneParameters& params);
00315 ~WarehouseViewer();
00316
00318 void initQtWidgets();
00320 void setupPlanningSceneDialog();
00322 void createPlanningSceneTable();
00324 void createTrajectoryTable();
00326 void createMotionPlanTable();
00328 void createNewObjectDialog();
00330 void createNewMeshDialog();
00332 void createRequestDialog();
00333
00335 void updateState();
00337 void onPlanningSceneLoaded(int scene, int numScenes);
00338 void createOutcomeDialog();
00339 void createAlterLinkPaddingDialog();
00340 void createAlterAllowedCollisionDialog();
00341 void createAttachObjectDialog(const std::string& name);
00342 bool createNewPlanningSceneConfirm();
00343 void createRobotStateEditor();
00344
00345 void saveCurrentPlanningScene(bool copy);
00346
00347 virtual void planCallback(arm_navigation_msgs::ArmNavigationErrorCodes& errorCode);
00348 virtual void filterCallback(arm_navigation_msgs::ArmNavigationErrorCodes& errorCode);
00349
00350 virtual void attachObjectCallback(const std::string& name) {
00351 emit attachObjectSignal(name);
00352 }
00353
00354 void setEnabledDisabledDisplay(const QString& qs1, const QString& qs2);
00355 void getEntryList(const std::string& s1,
00356 std::vector<std::string>& sv1);
00357 void addSpecialEntries(QListWidget* list_widget);
00358
00359 signals:
00361 void changeProgress(int progress);
00363 void updateTables();
00364
00365 void plannerFailure(int value);
00366 void filterFailure(int value);
00367
00368 void attachObjectSignal(const std::string& name);
00369
00370 void allScenesLoaded();
00371
00372 public slots:
00373
00374 void refreshPlanningSceneDialog();
00375
00376 void popupPlannerFailure(int value);
00377 void popupFilterFailure(int value);
00378
00380 void quit();
00382 void popupLoadPlanningScenes();
00384 void progressChanged(int progress)
00385 {
00386 load_scene_progress_->setValue(progress);
00387 }
00388 void planningSceneTableHeaderClicked(int col);
00389 void newButtonPressed();
00391 void loadButtonPressed();
00393 void refreshButtonPressed();
00394 void removePlanningSceneButtonPressed();
00396 void trajectoryTableSelection();
00398 void motionPlanTableSelection();
00400 void playButtonPressed();
00402 void filterButtonPressed();
00404 void sliderDragged(int nv);
00406 void replanButtonPressed();
00408 void trajectoryEditChanged();
00410 void createNewPlanningSceneSlot();
00412 void savePlanningSceneSlot();
00414 void copyPlanningSceneSlot();
00416 void createNewMotionPlanRequest(std::string group_name, std::string end_effector_name);
00418 void motionPlanStartColorButtonClicked();
00420 void motionPlanEndColorButtonClicked();
00422 void motionPlanStartVisibleButtonClicked(bool checked);
00424 void motionPlanEndVisibleButtonClicked(bool checked);
00426 void trajectoryColorButtonClicked();
00428 void trajectoryVisibleButtonClicked(bool checked);
00430 void createNewMotionPlanPressed();
00432 void createNewObjectPressed();
00434 void createObjectConfirmedPressed();
00436 void createMeshConfirmedPressed();
00438 void createNewMeshPressed();
00440 void createRequestPressed();
00442 void motionPlanCollisionVisibleButtonClicked(bool checked);
00444 void trajectoryCollisionsVisibleButtonClicked(bool checked);
00446 void motionPlanJointControlsActiveButtonClicked(bool checked);
00448 void selectMotionPlan(std::string ID);
00450 void selectTrajectory(std::string ID);
00452 void deleteSelectedMotionPlan();
00454 void deleteSelectedTrajectory();
00456 void updateStateTriggered();
00458 void executeButtonPressed();
00460 void refreshSceneButtonPressed();
00462 void viewOutcomesPressed();
00464 void alterLinkPaddingPressed();
00466 void alterAllowedCollisionPressed();
00468 void trajectoryRenderTypeChanged(const QString& type);
00470 void motionPlanRenderTypeChanged(const QString& type);
00472 void objectColorButtonPressed();
00473 void meshColorButtonPressed();
00474
00476 void alteredLinkPaddingValueChanged(double d);
00477
00478 void firstEntityListSelected();
00479 void secondEntityListSelected();
00480 void entityListsEdited();
00481 void disableCollisionClicked();
00482 void enableCollisionClicked();
00483 void resetAllowedCollisionClicked();
00484
00485 void meshFileSelected(const QString& s);
00486
00487 void attachObject(const std::string& name);
00488 void addTouchLinkClicked();
00489 void removeTouchLinkClicked();
00490
00491 void editRobotStatePressed();
00492 void editJointBoxChanged(const QString& joint);
00493 void jointStateSliderChanged(int nv);
00494
00495 void primaryPlannerTriggered();
00496 void secondaryPlannerTriggered();
00497
00498 protected:
00499
00500 bool planning_scene_initialized_;
00501 QLabel* selected_trajectory_label_;
00502 QLabel* selected_request_label_;
00503 QMenuBar* menu_bar_;
00504 QMenu* file_menu_;
00505 QMenu* planning_scene_menu_;
00506 QMenu* collision_object_menu_;
00507 QAction* new_object_action_;
00508 QAction* new_mesh_action_;
00509 QAction* refresh_action_;
00510 QAction* view_outcomes_action_;
00511
00512 QMenu* planner_configuration_menu_;
00513 QAction* set_primary_planner_action_;
00514 QAction* set_secondary_planner_action_;
00515
00516 QAction* alter_link_padding_action_;
00517 QDialog* alter_link_padding_dialog_;
00518 QTableWidget* alter_link_padding_table_;
00519
00520 QAction* alter_allowed_collision_action_;
00521 QDialog* alter_allowed_collision_dialog_;
00522 QLineEdit* first_allowed_collision_line_edit_;
00523 QLineEdit* second_allowed_collision_line_edit_;
00524 QLineEdit* allowed_status_line_edit_;
00525 QListWidget* first_allowed_collision_list_;
00526 QListWidget* second_allowed_collision_list_;
00527
00528 QDialog* attach_object_dialog_;
00529 QComboBox* attach_link_box_;
00530 QListWidget* possible_touch_links_;
00531 QListWidget* added_touch_links_;
00532
00533 QAction* edit_robot_state_action_;
00534 QDialog* edit_robot_state_dialog_;
00535 QComboBox* edit_joint_box_;
00536 QSlider* joint_state_slider_;
00537 QLineEdit* lower_bound_edit_window_;
00538 QLineEdit* upper_bound_edit_window_;
00539 QLineEdit* current_value_window_;
00540
00541 QDialog* load_planning_scene_dialog_;
00542 QDialog* new_object_dialog_;
00543 QDialog* new_mesh_dialog_;
00544 QDialog* new_request_dialog_;
00545 QDialog* outcome_dialog_;
00546 QTableWidget* stage_outcome_table_;
00547 QTableWidget* trajectory_outcome_table_;
00548 QProgressBar* load_scene_progress_;
00549 QAction* new_planning_scene_action_;
00550 QAction* new_motion_plan_action_;
00551 QAction* load_planning_scene_action_;
00552 QAction* save_planning_scene_action_;
00553 QAction* copy_planning_scene_action_;
00554 QAction* quit_action_;
00555 QTableWidget* planning_scene_table_;
00556 QTreeWidget* motion_plan_tree_;
00557 QTreeWidget* trajectory_tree_;
00558 QSlider* trajectory_slider_;
00559 QPushButton* play_button_;
00560 QPushButton* filter_button_;
00561 QPushButton* replan_button_;
00562 QPushButton* execute_button_;
00563
00564 QPushButton* new_planning_scene_button_;
00565 QPushButton* load_planning_scene_button_;
00566 QPushButton* refresh_planning_scene_button_;
00567 QPushButton* remove_planning_scene_button_;
00568 QPushButton* object_color_button_;
00569 QComboBox* collision_display_box_;
00570
00571 QSpinBox* trajectory_point_edit_;
00572
00573 TableLoadThread* table_load_thread_;
00574
00575 QComboBox* collision_object_type_box_;
00576 QLineEdit* collision_object_name_;
00577 QComboBox* request_group_name_box_;
00578 QSpinBox* collision_object_scale_x_box_;
00579 QSpinBox* collision_object_scale_y_box_;
00580 QSpinBox* collision_object_scale_z_box_;
00581 QSpinBox* collision_object_pos_x_box_;
00582 QSpinBox* collision_object_pos_y_box_;
00583 QSpinBox* collision_object_pos_z_box_;
00584 QPushButton* make_object_button_;
00585
00586 QLineEdit* mesh_object_name_;
00587 QSpinBox* mesh_object_pos_x_box_;
00588 QSpinBox* mesh_object_pos_y_box_;
00589 QSpinBox* mesh_object_pos_z_box_;
00590 QDoubleSpinBox* mesh_object_scale_x_box_;
00591 QDoubleSpinBox* mesh_object_scale_y_box_;
00592 QDoubleSpinBox* mesh_object_scale_z_box_;
00593 QPushButton* mesh_color_button_;
00594 QPushButton* make_mesh_button_;
00595
00596 QCheckBox* load_motion_plan_requests_box_;
00597 QCheckBox* load_trajectories_box_;
00598 QCheckBox* create_request_from_robot_box_;
00599
00600 QFileDialog* file_selector_;
00601 QLineEdit* mesh_filename_field_;
00602
00603 };
00604 #endif
