renamed graspitGUI to graspitCore. The graspitCore class holds pointe…

…rs to ivmgr, mainWindow, world, starts and stops plugins and mainloop

CMakeLists.txt

@@ -137,7 +137,7 @@ set (GRASPIT_INCLUDEDIR_HEADERS
     ${GSRC}/include/worldElement.h 
     ${GSRC}/include/worldElementFactory.h 
     ${GSRC}/include/world.h 
-    ${GSRC}/include/graspitGUI.h 
+    ${GSRC}/include/graspitCore.h
     ${GSRC}/include/graspitServer.h 
     ${GSRC}/include/graspitApp.h 
     ${GSRC}/include/arch.h
@@ -341,7 +341,7 @@ set (GRASPIT_CORE_SOURCES
     ${GSRC}/src/eigenGrasp.cpp 
     ${GSRC}/src/gloveInterface.cpp 
     ${GSRC}/src/grasp.cpp 
-    ${GSRC}/src/graspitGUI.cpp 
+    ${GSRC}/src/graspitCore.cpp
     ${GSRC}/src/graspitServer.cpp 
     ${GSRC}/src/graspitApp.cpp 
     ${GSRC}/src/graspRecord.cpp 

include/graspitGUI.h → include/graspitCore.h

@@ -19,15 +19,15 @@
 //
 // Author(s):  Andrew T. Miller 
 //
-// $Id: graspitGUI.h,v 1.5 2010/08/11 02:45:37 cmatei Exp $
+// $Id: graspitCore.h,v 1.5 2010/08/11 02:45:37 cmatei Exp $
 //
 //######################################################################
 
 /*! \file 
-  \brief Defines a graspit user interface class that contains subpieces of the UI.
+  \brief Defines the GraspIt! core class.  It holds pointers the mainwindow, ivmgr, world.
 */
 
-#ifndef GRASPITGUI_HXX
+#ifndef GRASPIT_CORE_H
 
 #include <string>
 #include <vector>
@@ -57,14 +57,17 @@ class World;
   This class can also initialize a task dispatcher which is then in charge of 
   batch execution of tasks based on information form a grasp database.
 */
-class GraspItGUI
+class GraspitCore
 {
   //! A pointer to the MainWindow.
   MainWindow *mainWindow;
 
-  //! A pointer to the IVmgr.
+  //! A pointer to the IVmgr.  This will be NULL if in headless mode.
   IVmgr *ivmgr;
 
+  //! A pointer to the world
+  World *world;
+
   //! A pointer to the Task Dispatcher, if any
   TaskDispatcher *mDispatch;
 
@@ -88,14 +91,13 @@ class GraspItGUI
 
   bool headless;
 
- protected:
-  int processArgs(int argc, char **argv, cmdline::parser *args);
-
  public:
-  GraspItGUI(int argc, char **argv, cmdline::parser *args);
-  ~GraspItGUI();
+  GraspitCore();
+  ~GraspitCore();
+
+  int init(int argc, char **argv);
 
-  /*! Returns whether the UI pieces were successfully initialized. */
+  /*! Returns whether GraspIt! was successfully initialized. */
   bool terminalFailure() const;
 
   //! Returns the exit code (set internally based on the application)
@@ -104,8 +106,8 @@ class GraspItGUI
   /*! Returns a pointer to the MainWindow. */
   MainWindow *getMainWindow() const {return mainWindow;}
 
-  /*! Returns a pointer to the World (obtained through the main window) */
-  World *getMainWorld() const;
+  /*! Returns a pointer to the World */
+  World *getWorld() const {return world;}
 
   /*! Returns a pointer to the IVmgr. */
   IVmgr *getIVmgr() const {return ivmgr;}
@@ -129,6 +131,9 @@ class GraspItGUI
   void exitMainLoop();
 
   bool isHeadless(){return headless;}
+
+  void emptyWorld();
+
 };
 
 #if defined(WIN32) && !defined(__MINGW32__)
@@ -141,7 +146,7 @@ class GraspItGUI
 #define GRASPIT_API
 #endif
 
-extern GRASPIT_API GraspItGUI *graspItGUI;
+extern GRASPIT_API GraspitCore *graspitCore;
 
-#define GRASPITGUI_HXX
+#define GRASPIT_CORE_H
 #endif

include/ivmgr.h

@@ -239,16 +239,12 @@ public Q_SLOTS:
   void restoreCameraPos();
 
 public:
-  IVmgr(QWidget *parent=0,const char *name=0,bool headless=false, Qt::WFlags f=0);
+  IVmgr(World *w, QWidget *parent=0,const char *name=0, Qt::WFlags f=0);
   ~IVmgr();
 
-  void deselectBody(Body *b);
+  void setWorld(World *w);
 
-  /*! 
-    Returns a pointer to the main World that the user interacts with through
-    this manager.
-   */
-  World *getWorld() const {return world;}
+  void deselectBody(Body *b);
 
   /*!
     Returns a pointer to the Inventor examiner viewer.
@@ -262,7 +258,6 @@ public Q_SLOTS:
   SoSeparator *getPointers() const {return pointers;}
 
   void setTool(ToolType newTool);
-  void emptyWorld();
   void hilightObjContact(int contactNum);
   void unhilightObjContact(int contactNum);
 

include/world.h

@@ -344,6 +344,9 @@ class World : public QObject {
   //! Sets all world settings to their original default values. 
   void setDefaults();
 
+  //! Sets the ivmgr for the world.
+  void setIVMgr(IVmgr *ivmgr){myIVmgr = ivmgr;}
+
   //! Sets the world modified flag.  Should be done when a change has since the last save. 
   void setModified() {modified = true;}
 

plugins/openclose/openClosePlugin.cpp

@@ -26,7 +26,7 @@
 #include "openClosePlugin.h"
 
 #include "mainWindow.h"
-#include "graspitGUI.h"
+#include "graspitCore.h"
 #include "world.h"
 #include "robot.h"
 
@@ -54,7 +54,7 @@ int OpenClosePlugin::mainLoop()
 {
   static int direction = 1.0;
   std::cout <<"in main loop" << std::endl;
-  World *world = graspItGUI->getMainWindow()->getMainWorld();
+  World *world = graspitCore->getWorld();
   if (!world) std::cerr << "Open-close plugin main loop: no world?!?\n";
   else if (!world->getCurrentHand()) std::cerr << "Open-close plugin main loop: no hand selected\n";
   else world->getCurrentHand()->autoGrasp(true, direction);

src/DBase/dbaseDlg.cpp

@@ -35,13 +35,13 @@
 #include <QDir>
 #include <QComboBox>
 
-#include "graspitGUI.h"
+#include "graspitCore.h"
 #include "ivmgr.h"
 #include "robot.h"
 #include "world.h"
 #include "searchState.h"
 #include "grasp.h"
-#include "graspitGUI.h"
+#include "graspitCore.h"
 #include "mainWindow.h"
 #include "matvec3D.h"
 
@@ -73,7 +73,7 @@ void DBaseDlg::init()
 	mGraspList.clear();
 	browserGroup->setEnabled(FALSE);
 	graspsGroup->setEnabled(FALSE);
-	mDBMgr = graspItGUI->getIVmgr()->getDBMgr();
+	mDBMgr = graspitCore->getIVmgr()->getDBMgr();
 	if (mDBMgr) {
 		getModelList();
 	}
@@ -92,7 +92,7 @@ void DBaseDlg::destroy()
 void DBaseDlg::exitButton_clicked(){
 	if (mCurrentLoadedModel) {
 		//remove the previously loaded model, but don't delete it
-		graspItGUI->getIVmgr()->getWorld()->destroyElement(mCurrentLoadedModel->getGraspableBody(), false);
+		graspitCore->getWorld()->destroyElement(mCurrentLoadedModel->getGraspableBody(), false);
 	}
 	//delete and release all the memories occupied by the grasps
 	deleteVectorElements<db_planner::Grasp*, GraspitDBGrasp*>(mGraspList);
@@ -146,7 +146,7 @@ void DBaseDlg::getModelList()
 void DBaseDlg::connectButton_clicked()
 {
 	delete mDBMgr;
-	Hand *h = graspItGUI->getIVmgr()->getWorld()->getCurrentHand();
+	Hand *h = graspitCore->getWorld()->getCurrentHand();
 
 #ifndef ROS_DATABASE_MANAGER	
 	mDBMgr = new db_planner::SqlDatabaseManager(hostLineEdit->text().toStdString(),
@@ -176,7 +176,7 @@ void DBaseDlg::connectButton_clicked()
 		delete mDBMgr;
 		mDBMgr = NULL;
 	}
-	graspItGUI->getIVmgr()->setDBMgr(mDBMgr);
+	graspitCore->getIVmgr()->setDBMgr(mDBMgr);
 }
 
 PROF_DECLARE(GET_GRASPS);
@@ -186,7 +186,7 @@ void DBaseDlg::loadGraspButton_clicked(){
 	PROF_RESET_ALL;
 	PROF_START_TIMER(GET_GRASPS);
 	//get the current hand and check its validity
-	Hand *hand = graspItGUI->getIVmgr()->getWorld()->getCurrentHand();
+	Hand *hand = graspitCore->getWorld()->getCurrentHand();
 	if (!hand) {
 		DBGA("Load and select a hand before viewing grasps!");
 		return;
@@ -236,7 +236,7 @@ void DBaseDlg::loadGraspButton_clicked(){
 void DBaseDlg::loadModelButton_clicked(){
 	if (mCurrentLoadedModel) {
 		//remove the previously loaded model, but don't delete it
-		graspItGUI->getIVmgr()->getWorld()->destroyElement(mCurrentLoadedModel->getGraspableBody(), false);
+		graspitCore->getWorld()->destroyElement(mCurrentLoadedModel->getGraspableBody(), false);
 		mCurrentLoadedModel = NULL;
 	}
 	if(mModelList.empty()){
@@ -253,7 +253,7 @@ void DBaseDlg::loadModelButton_clicked(){
 	//check that this model is already loaded into Graspit, if not, load it
 	if (!model->geometryLoaded()) {
 		//this loads the actual geometry in the scene graph of the object
-		if ( model->load(graspItGUI->getIVmgr()->getWorld()) != SUCCESS) {
+		if ( model->load(graspitCore->getWorld()) != SUCCESS) {
 			DBGA("Model load failed");
 			return;
 		}
@@ -263,7 +263,7 @@ void DBaseDlg::loadModelButton_clicked(){
 	//todo: where to dynamic information come from?
 	//model->getGraspableBody()->initDynamics();
 	//this adds the object to the graspit world so that we can see it
-	graspItGUI->getIVmgr()->getWorld()->addBody(model->getGraspableBody());
+	graspitCore->getWorld()->addBody(model->getGraspableBody());
 	//and remember it
 	mCurrentLoadedModel = model;
 	//model->getGraspableBody()->showAxes(false);
@@ -296,7 +296,7 @@ void DBaseDlg::plannerButton_clicked(){
 		return;
 	}
 	//check the hand
-	Hand *h = graspItGUI->getIVmgr()->getWorld()->getCurrentHand();
+	Hand *h = graspitCore->getWorld()->getCurrentHand();
 	if(!h){
 		DBGA("No hand found currently");
 		return;
@@ -376,7 +376,7 @@ void DBaseDlg::sortButton_clicked()
 
 //a shortcut for the GWS display
 void DBaseDlg::createGWSButton_clicked(){
-	graspItGUI->getMainWindow()->graspCreateProjection();
+	graspitCore->getMainWindow()->graspCreateProjection();
 }
 
 //trigger when the selection in the model list combo box is changed, display the corresponding new image
@@ -500,8 +500,8 @@ void DBaseDlg::showGrasp(int i)
 		if(!static_cast<GraspitDBGrasp*>(mGraspList[i])->getFinalGraspPlanningState())//NULL grasp, return
 			return;
 		static_cast<GraspitDBGrasp*>(mGraspList[i])->getFinalGraspPlanningState()->execute();
-		if(graspItGUI->getIVmgr()->getWorld()->getCurrentHand()->isA("Barrett")){
-			graspItGUI->getIVmgr()->getWorld()->getCurrentHand()->autoGrasp(true);
+		if(graspitCore->getWorld()->getCurrentHand()->isA("Barrett")){
+			graspitCore->getWorld()->getCurrentHand()->autoGrasp(true);
 		}
 	}
 
@@ -515,8 +515,8 @@ void DBaseDlg::showGrasp(int i)
 	*/
 
 	//update the world and grasp information
-	graspItGUI->getIVmgr()->getWorld()->findAllContacts();
-	graspItGUI->getIVmgr()->getWorld()->updateGrasps();
+	graspitCore->getWorld()->findAllContacts();
+	graspitCore->getWorld()->updateGrasps();
 	mCurrentFrame = i;
 	updateGraspInfo();
 }

src/DBase/dbasePlannerDlg.cpp

@@ -37,7 +37,7 @@
 #include "graspit_db_grasp.h"
 #include "searchState.h"
 
-#include "graspitGUI.h"
+#include "graspitCore.h"
 #include "mainWindow.h"
 
 #include "DBPlanner/caching_neighbor_finder.h"
@@ -211,7 +211,7 @@ void DBasePlannerDlg::nextGraspButton_clicked(){
 
 // shortcut for the GWS display
 void DBasePlannerDlg::createGWSButton_clicked(){
-	graspItGUI->getMainWindow()->graspCreateProjection();
+	graspitCore->getMainWindow()->graspCreateProjection();
 }
 
 // put the entries into the distance function combo box
@@ -295,7 +295,7 @@ void DBasePlannerDlg::showGrasp(db_planner::Grasp* grasp){
 	static_cast<GraspitDBModel*>(mPlanningModel)->getGraspableBody()->setTran(transf::IDENTITY);
 	g->getPreGraspPlanningState()->execute();
 	if(mHand->isA("Barrett") && testedGraspRadioButton->isChecked()){
-		graspItGUI->getIVmgr()->getWorld()->getCurrentHand()->autoGrasp(true);
+		graspitCore->getWorld()->getCurrentHand()->autoGrasp(true);
 	}
 	mHand->getWorld()->findAllContacts();
 	mHand->getWorld()->updateGrasps();

src/DBase/dbase_grasp.cpp

@@ -28,7 +28,7 @@
 
 #include "dbase_grasp.h"
 #include "ivmgr.h"
-#include "graspitGUI.h"
+#include "graspitCore.h"
 #include "world.h"
 #include "searchState.h"
 #include "egPlanner.h"
@@ -43,7 +43,7 @@
 #include "debug.h"
 #include <Inventor/sensors/SoTimerSensor.h>
 
-DBaseBatchPlanner::DBaseBatchPlanner(IVmgr *mgr, GraspItGUI *gui)
+DBaseBatchPlanner::DBaseBatchPlanner(IVmgr *mgr, GraspitCore *gui)
 {
 	ivmgr = mgr;
 	mGui = gui;
@@ -103,7 +103,7 @@ bool DBaseBatchPlanner::processArguments(int argc, char **argv)
 
 	filename = graspitRoot + QString("/models/robots/") + QString(argv[2]) + QString("/") 
 		               + QString(argv[2]) + QString(".xml");
-	mHand = (Hand*)ivmgr->getWorld()->importRobot(filename);
+	mHand = (Hand*)graspitCore->getWorld()->importRobot(filename);
 	if ( !mHand ) {
 		DBGAF(mLogStream,"DBase planner: failed to load robot name " << argv[2] << ", or it is not a Hand");
 		return false;
@@ -116,7 +116,7 @@ bool DBaseBatchPlanner::processArguments(int argc, char **argv)
 		return false;
 	}
 	filename = QString(argv[3]);
-	mObject = static_cast<GraspableBody*>(ivmgr->getWorld()->importBody("GraspableBody",filename));
+	mObject = static_cast<GraspableBody*>(graspitCore->getWorld()->importBody("GraspableBody",filename));
 	((GraspableBody*)mObject)->showAxes(false);
 
 	if (!mObject) {
@@ -281,7 +281,7 @@ void DBaseBatchPlanner::plannerComplete()
 	DBGAF(mLogStream,"Planner completed; starting shutdown");
 
 	if (mType == GRIPPER) {
-		ivmgr->getWorld()->destroyElement(mHand,false);
+		graspitCore->getWorld()->destroyElement(mHand,false);
 		fprintf(stderr,"Taking scans...\n");
 		takeScans();
 	}
@@ -298,7 +298,7 @@ void DBaseBatchPlanner::plannerComplete()
 void DBaseBatchPlanner::sensorCB(void *data, SoSensor*)
 {
 	DBaseBatchPlanner *planner = (DBaseBatchPlanner*)data;
-	GraspItGUI *gui = planner->mGui;
+	GraspitCore *gui = planner->mGui;
 	DBGAF(planner->mLogStream,"Shutdown signal received");
 	delete planner;
 	gui->exitMainLoop();

src/DBase/dbase_grasp.h

@@ -40,7 +40,7 @@ class EGPlanner;
 class Hand;
 class Body;
 class GraspableBody;
-class GraspItGUI;
+class GraspitCore;
 class GraspPlanningState;
 class SoSensor;
 class SoTimerSensor;
@@ -60,7 +60,7 @@ class DBaseBatchPlanner : public QObject
 	GraspableBody *mObject;
 	Hand *mHand;
 	IVmgr *ivmgr;
-	GraspItGUI *mGui;
+	GraspitCore *mGui;
 	EGPlanner *mPlanner;
 	//maybe one day we'll use streams here...
 	FILE *mResultFile;
@@ -90,7 +90,7 @@ public Q_SLOTS:
 	//this one gets called when the inner planner stops
 	void plannerComplete();
 public:
-	DBaseBatchPlanner(IVmgr *mgr, GraspItGUI *gui);
+	DBaseBatchPlanner(IVmgr *mgr, GraspitCore *gui);
 	~DBaseBatchPlanner();
 	bool processArguments(int argc, char **argv);
 	bool startPlanner();