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guiplanner.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_GUIPLANNER_H
00020 #define MSL_GUIPLANNER_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 "planner.h"
00037 #include "rrt.h"
00038 #include "prm.h"
00039 #include "fdp.h"
00040 
00041 #include <LEDA/REDEFINE_NAMES.h>
00042 
00044 
00045 class GuiPlanner: public Gui {
00046  protected:
00047   virtual void Init();
00048   virtual void CreateMenuWindow();
00049   virtual void ButtonHandle(int b);
00050   window *PlanCtlWindow;
00051   bool PlanCtlWindowOn;
00052  public:
00053   double LineWidth;
00054   double PSLineWidth;
00055   int DrawIndexX,DrawIndexY;
00056   Planner *Pl;
00057   GuiPlanner(Render *render, Planner *planner);
00058   virtual ~GuiPlanner(){};
00059   void ResetPlanner();
00060   void WriteGraphs();
00061   void ReadGraphs();
00062   void DrawGraphs();
00063   void ReadAnimationFrames();
00064   void WriteAnimationFrames();
00065   void ReadPath();
00066   void WritePath();
00067   void PSDrawGraphs();
00068 };
00069 
00070 #include <LEDA/UNDEFINE_NAMES.h>
00071 
00072 #endif
Motion Strategy Library


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