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guiplanner.h

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00001 //----------------------------------------------------------------------
00002 //               The Motion Strategy Library (MSL)
00003 //----------------------------------------------------------------------
00004 //
00005 // Copyright (c) University of Illinois and Steven M. 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 // The University of Illinois 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 #include <fx.h>
00028 #include "gui.h"
00029 #include "defs.h"
00030 #include "planner.h"
00031 #include "rrt.h"
00032 #include "rcrrt.h"
00033 #include "prm.h"
00034 #include "fdp.h"
00035 #include "util.h"
00036 
00038 
00039 class GuiPlanner;
00040 class MSLPlotWindow;
00041 
00042 class MSLPlannerWindow : public FXMainWindow {
00043   FXDECLARE(MSLPlannerWindow)
00044 protected:
00045   FXMenubar*         menubar;
00046   FXMenubar*         vcrbar;
00047   FXMenubar*         buttonbar;
00048   FXMenuPane*        loadmenu;
00049   FXMenuPane*        savemenu;
00050   FXMenuPane*        plotmenu;
00051   FXMenuPane*        plannermenu;
00052   FXMatrix*          matrix;
00053 
00054   FXDataTarget       plannerdeltat_target;
00055   FXDataTarget       numnodes_target;
00056   FXDataTarget       drawindexx_target;
00057   FXDataTarget       drawindexy_target;
00058   FXDataTarget       animationtimescale_target;
00059   FXDataTarget       ambientlight_target;
00060 
00061   GuiPlanner*        GP;
00062 
00063 public:
00064   MSLPlannerWindow() {}
00065   MSLPlannerWindow(GuiPlanner* gp);
00066   virtual ~MSLPlannerWindow();
00067 
00068   void create();
00069   void Restart();
00070   long onCmdTimer(FXObject*,FXSelector,void*);
00071   long GeneralHandler(FXObject*,FXSelector,void*);
00072 
00073   friend class GuiPlanner;
00074   friend class MSLPlotWindow;
00075 
00076 };
00077 
00078 
00079 
00080 class MSLPlotWindow : public FXDialogBox {
00081 
00082   // Macro for class hierarchy declarations
00083   FXDECLARE(MSLPlotWindow)
00084 private:
00085 
00086   FXHorizontalFrame *contents;                // Content frame
00087   FXVerticalFrame   *canvasFrame;             // Canvas frame
00088   FXVerticalFrame   *buttonFrame;             // Button frame
00089   FXCanvas          *canvas;                  // Canvas to draw into
00090   int               indexx,indexy;
00091   
00092 protected:
00093   MSLPlotWindow(){}
00094 
00095   MSLPlannerWindow* Owner;
00096   GuiPlanner* GP;
00097 
00098 public:
00099 
00100   // Message handlers
00101   long onPaint(FXObject*,FXSelector,void*);
00102   long onCmdPrint(FXObject*,FXSelector,void*);
00103   
00104   MSLPlotWindow(MSLPlannerWindow* owner);
00105 
00106   void drawPage(FXDC& dc,FXint w,FXint h,FXint tx = 0,FXint ty = 0);
00107 
00108   // Messages for our class
00109   enum{
00110     ID_CANVAS=FXMainWindow::ID_LAST,
00111     ID_PRINT,
00112     ID_LAST
00113     };
00114 };
00115 
00116 
00117 
00118 class GuiPlanner: public FXApp, public Gui {
00119  protected:
00120   virtual void Init();
00121   virtual void CreateMenuWindow();
00122 
00123   MSLPlannerWindow* Window;
00124  public:
00125   virtual void HandleEvents();
00126   virtual void ButtonHandle(int b);
00127   double LineWidth;
00128   double PSLineWidth;
00129   int DrawIndexX,DrawIndexY;
00130   Planner *Pl;
00131   GuiPlanner(Render *render, Planner *planner);
00132   virtual ~GuiPlanner(){};
00133   void ResetPlanner();
00134   void WriteGraphs();
00135   void ReadGraphs();
00136   //  void DrawGraphs();
00137   void ReadAnimationFrames();
00138   void WriteAnimationFrames();
00139   void ReadPath();
00140   void WritePath();
00141   void DrawGraphs();
00142 
00143   friend class MSLPlotWindow;
00144 };
00145 
00146 #endif
Motion Strategy Library


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