libmove3d: /home/slemaign/softs-local/BioMove3D-git/graspPlanning/include/gp_grasp

libmove3d 3.13.0
00001 #ifndef GP_GRASP_IO_H
00002 #define GP_GRASP_IO_H
00003 
00004 #include <string>
00005 
00010 
00012 typedef struct gpElementParserData
00013 {
00014   std::string object_name, hand_type, version, autoGen;
00015   int ID, fingerID, handID, body_index, face;
00016   double stability, quality, friction_coefficient, curvature;
00017   double position[3], normal[3], force_direction[3], baryCoords[3];
00018   double frame[4][4];
00019   std::list<double> configuration, open_configuration;
00020 } gpElementParserData;
00021 
00022 
00024 typedef struct gpContactParserData
00025 {
00026   double friction_coefficient, curvature;
00027   double position[3], normal[3], force_direction[3], baryCoords[3];
00028   int fingerID, face;
00029 } gpContactParserData;
00030 
00032 typedef struct gpGraspParserData
00033 {
00034   bool autoGen;
00035   std::string object_name;
00036   gpHand_type hand_type;
00037   int body_index;
00038   int ID, handID;
00039   double stability, quality;
00040   double frame[4][4];
00041   std::list<gpContact> contacts;
00042   std::list<double> configuration, open_configuration;
00043 } gpGraspParserData;
00044 
00045 
00046 extern int gpSave_grasp_list(std::list<class gpGrasp> &graspList, std::string filename);
00047 
00048 extern int gpLoad_grasp_list(std::string filename, std::list<class gpGrasp> &graspList);
00049 
00050 extern int gpCheck_grasp_list_validity(std::list<class gpGrasp> &graspList, std::string objectName);
00051 
00052 extern int gpInvert_axis(std::string inputFile, std::string outputFile, p3d_matrix4 T);
00053 
00054 extern int gpMirror_robot(p3d_rob *robot, int axis);
00055 
00056 extern int gpMirror_robot_bodies(p3d_rob *robot, std::string path, int axis);
00057 
00058 #endif
00059