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guirrt.h

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00001 //----------------------------------------------------------------------
00002 //               The Motion Strategy Library (MSL)
00003 //----------------------------------------------------------------------
00004 //
00005 // Copyright (c) 1998-2000 Iowa State University and Steve LaValle.  
00006 // All Rights Reserved.
00007 // 
00008 // Permission to use, copy, and distribute this software and its 
00009 // documentation is hereby granted free of charge, provided that 
00010 // (1) it is not a component of a commercial product, and 
00011 // (2) this notice appears in all copies of the software and
00012 //     related documentation. 
00013 // 
00014 // Iowa State University and the author make no representations
00015 // about the suitability or fitness of this software for any purpose.  
00016 // It is provided "as is" without express or implied warranty.
00017 //----------------------------------------------------------------------
00018 
00019 #ifndef MSL_GUIRRT_H
00020 #define MSL_GUIRRT_H
00021 
00022 #include <LEDA/file.h>
00023 #include <LEDA/array.h>
00024 #include <LEDA/list.h>
00025 #include <LEDA/point.h>
00026 #include <LEDA/polygon.h>
00027 #include <LEDA/stream.h>
00028 #include <LEDA/string.h>
00029 #include <LEDA/vector.h>
00030 #include <LEDA/graph.h>
00031 #include <LEDA/window.h>
00032 #include <LEDA/menu.h>
00033 #include <LEDA/ps_file.h>
00034 
00035 #include "gui.h"
00036 #include "rrt.h"
00037 
00038 #include <LEDA/REDEFINE_NAMES.h>
00039 
00041 
00042 class GuiRRT: public Gui {
00043  public:
00044   double GifSize;  // Size of animated gif
00045   bool DumpTrees;  // Add the RRTs to the PS file output
00046   double LineWidth;
00047   double PSLineWidth;
00048   int DrawIndexX,DrawIndexY;
00049   list<vector> Path;
00050   RRT *rrt;
00051   GuiRRT(Render *render, RRT *r);
00052   virtual ~GuiRRT(){};
00053   virtual void Start();
00054   virtual void CreateControlWindow();
00055   virtual void ButtonHandle(int b);
00056   void ResetRRT();
00057   void WriteRRT();
00058   void ReadRRT();
00059   void DrawRRT();
00060   void ReadAnimationFrames();
00061   void WriteAnimationFrames();
00062   void ReadPath();
00063   void WritePath();
00064   void PSDrawRRT();
00065 };
00066 
00067 #include <LEDA/UNDEFINE_NAMES.h>
00068 
00069 #endif
Motion Strategy Library


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Partial support provided by NSF CAREER Award IRI-970228 (LaValle), Honda Research, and Iowa State University.
Contributors: Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.