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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 <math.h>
00023 #include <stdio.h>
00024 #include <fstream.h>
00025 #include <sys/stat.h>
00026 #include <signal.h>
00027 
00028 // FOX GUI library
00029 #include <fx.h>
00030 
00031 #include "defs.h"
00032 
00033 #include "gui.h"
00034 #include "planner.h"
00035 #include "rrt.h"
00036 #include "prm.h"
00037 #include "fdp.h"
00038 
00040 
00041 class GuiPlanner;
00042 class MSLPlotWindow;
00043 
00044 class MSLPlannerWindow : public FXMainWindow {
00045   FXDECLARE(MSLPlannerWindow)
00046 protected:
00047   FXMenubar*         menubar;
00048   FXMenubar*         vcrbar;
00049   FXMenubar*         buttonbar;
00050   FXMenuPane*        loadmenu;
00051   FXMenuPane*        savemenu;
00052   FXMenuPane*        plotmenu;
00053   FXMenuPane*        plannermenu;
00054   FXMatrix*          matrix;
00055 
00056   FXDataTarget       plannerdeltat_target;
00057   FXDataTarget       numnodes_target;
00058   FXDataTarget       drawindexx_target;
00059   FXDataTarget       drawindexy_target;
00060   FXDataTarget       animationtimescale_target;
00061   FXDataTarget       ambientlight_target;
00062 
00063   GuiPlanner*        GP;
00064 
00065 public:
00066   MSLPlannerWindow() {}
00067   MSLPlannerWindow(GuiPlanner* gp);
00068   virtual ~MSLPlannerWindow();
00069 
00070   void create();
00071   void Restart();
00072   long onCmdTimer(FXObject*,FXSelector,void*);
00073   long GeneralHandler(FXObject*,FXSelector,void*);
00074 
00075   friend class GuiPlanner;
00076   friend class MSLPlotWindow;
00077 };
00078 
00079 
00080 
00081 class MSLPlotWindow : public FXDialogBox {
00082 
00083   // Macro for class hierarchy declarations
00084   FXDECLARE(MSLPlotWindow)
00085 private:
00086 
00087   FXHorizontalFrame *contents;                // Content frame
00088   FXVerticalFrame   *canvasFrame;             // Canvas frame
00089   FXVerticalFrame   *buttonFrame;             // Button frame
00090   FXCanvas          *canvas;                  // Canvas to draw into
00091   int               indexx,indexy;
00092   
00093 protected:
00094   MSLPlotWindow(){}
00095 
00096   MSLPlannerWindow* Owner;
00097   GuiPlanner* GP;
00098 
00099 public:
00100 
00101   // Message handlers
00102   long onPaint(FXObject*,FXSelector,void*);
00103   long onCmdPrint(FXObject*,FXSelector,void*);
00104   
00105   MSLPlotWindow(MSLPlannerWindow* owner);
00106 
00107   void drawPage(FXDC& dc,FXint w,FXint h,FXint tx = 0,FXint ty = 0);
00108 
00109   // Messages for our class
00110   enum{
00111     ID_CANVAS=FXMainWindow::ID_LAST,
00112     ID_PRINT,
00113     ID_LAST
00114     };
00115 };
00116 
00117 
00118 
00119 class GuiPlanner: public FXApp, public Gui {
00120  protected:
00121   virtual void Init();
00122   virtual void CreateMenuWindow();
00123 
00124   MSLPlannerWindow* Window;
00125  public:
00126   virtual void HandleEvents();
00127   virtual void ButtonHandle(int b);
00128   double LineWidth;
00129   double PSLineWidth;
00130   int DrawIndexX,DrawIndexY;
00131   Planner *Pl;
00132   GuiPlanner(Render *render, Planner *planner);
00133   virtual ~GuiPlanner(){};
00134   void ResetPlanner();
00135   void WriteGraphs();
00136   void ReadGraphs();
00137   //  void DrawGraphs();
00138   void ReadAnimationFrames();
00139   void WriteAnimationFrames();
00140   void ReadPath();
00141   void WritePath();
00142   void DrawGraphs();
00143 
00144   friend class MSLPlotWindow;
00145 };
00146 
00147 #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: Anna Atramentov, Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.