Merge branch 'master' of github.com:graspit-simulator/graspit into re…

…factor_src

CMakeLists.txt

@@ -138,7 +138,7 @@ 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
@@ -160,7 +160,6 @@ set (GRASPIT_EGPLANNER_HEADERS
     ${GSRC}/include/EGPlanner/simAnn.h 
     ${GSRC}/include/EGPlanner/searchState.h 
     ${GSRC}/include/EGPlanner/searchStateImpl.h 
-    ${GSRC}/include/EGPlanner/energy/searchEnergy.h 
     ${GSRC}/include/EGPlanner/onLinePlanner.h 
     ${GSRC}/include/EGPlanner/egPlanner.h 
     ${GSRC}/include/EGPlanner/simAnnPlanner.h 
@@ -170,6 +169,11 @@ set (GRASPIT_EGPLANNER_HEADERS
     ${GSRC}/include/EGPlanner/graspTesterThread.h 
     ${GSRC}/include/EGPlanner/onLineGraspInterface.h 
     ${GSRC}/include/EGPlanner/listPlanner.h 
+
+)
+
+set (GRASPIT_EGPLANNER_ENERGY_HEADERS
+    ${GSRC}/include/EGPlanner/energy/searchEnergy.h 
     ${GSRC}/include/EGPlanner/energy/autograspQualityEnergy.h 
     ${GSRC}/include/EGPlanner/energy/closureSearchEnergy.h
     ${GSRC}/include/EGPlanner/energy/compliantEnergy.h
@@ -178,10 +182,9 @@ set (GRASPIT_EGPLANNER_HEADERS
     ${GSRC}/include/EGPlanner/energy/guidedAutoGraspEnergy.h 
     ${GSRC}/include/EGPlanner/energy/guidedPotentialQualityEnergy.h 
     ${GSRC}/include/EGPlanner/energy/potentialQualityEnergy.h
-    ${GSRC}/include/EGPlanner/energy/strictAutoGraspEnergy.h 
+    ${GSRC}/include/EGPlanner/energy/strictAutoGraspEnergy.h
 )
 
-
 # all headers which are in the  cmdline
 # directory and should be included
 # in the installation should be listed in the
@@ -342,7 +345,7 @@ 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 
@@ -827,6 +830,13 @@ install(FILES
     DESTINATION ${INCLUDE_DESTINATION}/EGPlanner
 )
 
+install(FILES
+    ${GRASPIT_EGPLANNER_ENERGY_HEADERS}
+    DESTINATION ${INCLUDE_DESTINATION}/EGPlanner/energy
+)
+
+
+
 if (PQP_COLLISION)
     install(FILES
         ${GRASPIT_INCLUDEDIR_HEADERS}
@@ -881,20 +891,30 @@ endif (PLY)
 install(TARGETS
     graspit 
     PERMISSIONS OWNER_EXECUTE OWNER_WRITE OWNER_READ GROUP_READ WORLD_READ
-    EXPORT graspit-lib-targets
+    EXPORT graspit-targets
     DESTINATION ${LIB_DESTINATION})
 
-install(EXPORT graspit-lib-targets
+install(EXPORT graspit-targets
     DESTINATION ${LIB_DESTINATION})
 
+# For future reference: install graspitConfig.cmake as well as soon
+# as it is added to the repository.
+# set (GRASPIT_CONFIG_CMAKE graspitConfig.cmake)
+install(FILES
+    # cmake/${GRASPIT_CONFIG_CMAKE}
+    CMakeMacros/FindBULLET.cmake
+    CMakeMacros/FindSoQt4.cmake
+    CMakeMacros/FindQhull.cmake
+    DESTINATION ${LIB_DESTINATION}/${PROJECT_NAME}
+)
 
 ## ---
 ## comment for future reference: This is required to build a static library
 # install(TARGETS
 #     graspit_static 
-#     EXPORT graspit-static-lib-targets
+#     EXPORT graspit-static-targets
 #     DESTINATION ${LIB_DESTINATION})
-# install(EXPORT graspit-static-lib-targets
+# install(EXPORT graspit-static-targets
 #     DESTINATION ${LIB_DESTINATION})
 ## ---
 

include/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();

include/DBase/graspit_db_grasp.h

@@ -35,7 +35,7 @@
 #include <vector>
 #include <string>
 
-#include "graspitGUI.h"
+#include "graspitCore.h"
 #include "world.h"
 #include "ivmgr.h"
 

include/EGPlanner/energy/searchEnergy.h

@@ -31,7 +31,7 @@
 #include <QObject>
 
 #include "search.h"
-#include "include/matvec3D.h"
+#include "matvec3D.h"
 
 class Hand;
 class Body;

include/EGPlanner/searchState.h

@@ -31,7 +31,7 @@
 #include <QString>
 
 #include "search.h"
-#include "include/matvec3D.h"
+#include "matvec3D.h"
 
 class Hand;
 class Body;

include/EGPlanner/simAnn.h

@@ -35,7 +35,7 @@ class Body;
 class SoSensor;
 
 #include <stdio.h>
-#include "include/matvec3D.h"
+#include "matvec3D.h"
 #include <vector>
 
 /*!	This class performs simulated annealing on a collection of variables 

include/graspitGUI.h → include/graspitCore.h

@@ -19,20 +19,28 @@
 //
 // 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>
 #include <list>
 
+namespace cmdline{
+    class parser;
+}
+
+namespace db_planner {
+    class DatabaseManager;
+}
+
 class MainWindow;
 class IVmgr;
 class TaskDispatcher;
@@ -53,14 +61,17 @@ 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;
 
@@ -82,14 +93,14 @@ class GraspItGUI
   //! Idle sensor for calling the plugins from GraspIt's event loop
   SoIdleSensor *mPluginSensor;
 
- protected:
-  int processArgs(int argc, char **argv);
+  //! The main and only interface for the CGDB; all interaction with the CGDB should go through this.
+  db_planner::DatabaseManager *mDBMgr;
 
  public:
-  GraspItGUI(int argc,char **argv);
-  ~GraspItGUI();
+  GraspitCore(int argc, char **argv);
+  ~GraspitCore();
 
-  /*! 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)
@@ -98,8 +109,8 @@ 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;}
@@ -121,6 +132,19 @@ class GraspItGUI
 
   void startMainLoop();
   void exitMainLoop();
+
+  /*! Deletes the existing world and creates a new (empty) one */
+  void emptyWorld(const char* name="MainWorld");
+
+  //! Get the main database manager, when CGDB support is enabled
+  db_planner::DatabaseManager* getDBMgr(){return mDBMgr;}
+  //! Set the main database manager. Should only be called by the DB connection dialog
+#ifdef CGDB_ENABLED
+  void setDBMgr(db_planner::DatabaseManager *mgr){mDBMgr = mgr;}
+#else
+  void setDBMgr(db_planner::DatabaseManager*){}
+#endif
+
 };
 
 #if defined(WIN32) && !defined(__MINGW32__)
@@ -133,7 +157,7 @@ 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/graspitParser.h

@@ -20,6 +20,7 @@ class GraspitParser
     static const std::string obstacle_help;
     static const std::string robot_help;
     static const std::string version_help;
+    static const std::string headless_help;
 
 private:
      cmdline::parser *parser;

include/ivmgr.h

@@ -77,10 +77,6 @@ class GWSprojection;
 class QualityMeasure;
 struct DraggerInfo;
 
-namespace db_planner {
-	class DatabaseManager;
-}
-
 #define HANDS_DIR "../../hands/"
 #define OBJECTS_DIR "../../objects/"
 #define MAX_POLYTOPES 15
@@ -175,9 +171,6 @@ class IVmgr : public QWidget {
   //! Pointer to the material node controlling the color of dynamic force indicatores
   SoMaterial *dynForceMat;
 
-  //! The main and only interface for the CGDB; all interaction with the CGDB should go through this.
-  db_planner::DatabaseManager *mDBMgr;
-
   void setupPointers();
   void transRot(DraggerInfo *dInfo);
   void revoluteJointChanged(DraggerInfo *dInfo);
@@ -239,16 +232,12 @@ public Q_SLOTS:
   void restoreCameraPos();
 
 public:
-  IVmgr(QWidget *parent=0,const char *name=0,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 +251,6 @@ public Q_SLOTS:
   SoSeparator *getPointers() const {return pointers;}
 
   void setTool(ToolType newTool);
-  void emptyWorld();
   void hilightObjContact(int contactNum);
   void unhilightObjContact(int contactNum);
 
@@ -277,20 +265,11 @@ public Q_SLOTS:
   transf getCameraTransf();
 
   void saveImage(QString filename);
-  void beginMainLoop();
 
   void setStereo(bool s);
   //! Not implemented
   void flipStereo();
 
-  //! Get the main database manager, when CGDB support is enabled
-  db_planner::DatabaseManager* getDBMgr(){return mDBMgr;}
-  //! Set the main database manager. Should only be called by the DB connection dialog
-#ifdef CGDB_ENABLED
-  void setDBMgr(db_planner::DatabaseManager *mgr){mDBMgr = mgr;}
-#else
-  void setDBMgr(db_planner::DatabaseManager*){}
-#endif
   void setStereoWindow(QWidget *parent);
 };
 #define IVMGR_HXX

include/world.h

@@ -228,7 +228,7 @@ class World : public QObject {
 
 public:	
   //! public constructor
-  World(QObject *parent=0,const char *name=0, IVmgr *mgr=NULL);
+  World(QObject *parent=0, const char *name=0);
 
   //! Saves the current user settings in the registry and clears the world
   ~World();
@@ -314,6 +314,9 @@ class World : public QObject {
   //! Returns the root of the Inventor scene graph for this world 
   SoSeparator *getIVRoot() const {return IVRoot;}
 
+  //! Returns axis-aligned bounding box min and max points of the world
+  void getBoundingBox(vec3& minPoint, vec3& maxPoint);
+
   //! Returns a pointer to the i-th body defined in this world 
   Body *getBody(int i) const {return bodyVec[i];}
 
@@ -344,6 +347,9 @@ 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;}