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