advanced_options_dialog.h
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2009, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #ifndef ADVANCED_OPTIONS_DIALOG 00031 #define ADVANCED_OPTIONS_DIALOG 00032 00033 #include "pr2_interactive_manipulation/interactive_manipulation_ui.h" 00034 #include "pr2_object_manipulation_msgs/IMGUIAdvancedOptions.h" 00035 00036 namespace pr2_interactive_manipulation { 00037 00038 class InteractiveManipulationFrontend; 00039 00040 struct AdvancedGraspOptions 00041 { 00042 bool reactive_grasping_; 00043 bool reactive_force_; 00044 bool reactive_place_; 00045 int lift_steps_; 00046 int retreat_steps_; 00047 int lift_direction_choice_; 00048 int desired_approach_; 00049 int min_approach_; 00050 float max_contact_force_; 00051 }; 00052 00053 class AdvancedOptionsDialog : public AdvancedOptionsDialogBase 00054 { 00055 private: 00056 InteractiveManipulationFrontend *frontend_; 00057 virtual void setDefaultsClicked( wxCommandEvent& event ); 00058 virtual void acceptClicked( wxCommandEvent& event ); 00059 00060 virtual void reactiveGraspingClicked( wxCommandEvent& event ); 00061 virtual void reactiveForceClicked( wxCommandEvent& event ); 00062 00063 public: 00064 AdvancedOptionsDialog(InteractiveManipulationFrontend *frontend); 00065 ~AdvancedOptionsDialog(); 00066 00067 void setOptions(AdvancedGraspOptions go); 00068 static AdvancedGraspOptions getDefaults(int interface_number = 0, int task_number = 0); 00069 AdvancedGraspOptions getOptions(); 00070 00071 void setOptionsMsg(pr2_object_manipulation_msgs::IMGUIAdvancedOptions go); 00072 static pr2_object_manipulation_msgs::IMGUIAdvancedOptions getDefaultsMsg(int interface_number = 0, int task_number = 0); 00073 pr2_object_manipulation_msgs::IMGUIAdvancedOptions getOptionsMsg(); 00074 }; 00075 00076 } 00077 00078 #endif