libmove3d: /home/slemaign/softs-local/BioMove3D-git/lightPlanner/proto/DlrPlan.h Source File

libmove3d 3.13.0
00001 #ifndef __DLRPLAN_H__
00002 #define __DLRPLAN_H__
00003 #include <iostream>
00004 #include <vector>
00005 #include <map>
00006 
00007 #include "../lightPlanner/proto/DlrObject.h"
00008 #include "p3d_matrix.h"
00009 
00010 class DlrPlan {
00011 public:
00012         enum planType{APPROACH, GRASP, CARRY, PRECOMPGRASP, PRECOMPCARRY, REACH, TOUCH};
00013   //Constructors and destructors
00014   DlrPlan(planType type);
00015   virtual ~DlrPlan();
00016         //functions
00017         void setObstaclesAtRightPos();
00018         void setBodyJntAtRightPos(p3d_rob* robot, p3d_jnt* jnt, p3d_matrix4 position);
00019   //setters and getters
00020         void setType(planType type);
00021         void setObject(DlrObject* object);
00022         void setStartPos(DlrObject* object, int posId);
00023         void setTargetPos(DlrObject* object, int posId);
00024         void addObstacle(DlrObject* object, int posId);
00025         void setExecute(bool execute);
00026         planType getType();
00027         DlrObject* getObject();
00028         void getStartPos(p3d_matrix4 startPos);
00029         void getTargetPos(p3d_matrix4 targetPos);
00030         bool getExecute();
00031         
00032 protected:
00033 
00034 private:
00035 //static members
00036         planType _type;
00037         DlrObject* _object;
00038         p3d_matrix4 _startPos;
00039         p3d_matrix4 _targetPos;
00040         std::map<DlrObject*, int> _obstacles;
00041         bool _execute;
00042 public:
00043 };
00044 
00045 #endif