RobotPoseGUI.h

#ifndef INTERFACE_ROBOTPOSEGUI_H
#define INTERFACE_ROBOTPOSEGUI_H

#include "ResourceGUI.h"
#include <Klampt/View/RobotPoseWidget.h>
#include <Klampt/View/ObjectPoseWidget.h>
#include <Klampt/Sensing/Sensor.h>
#include <KrisLibrary/utils/apputils.h>
#include <fstream>

#define GLUT_LEFT_BUTTON 0
#define GLUT_MIDDLE_BUTTON 1
#define GLUT_RIGHT_BUTTON 2

namespace Klampt {
  using namespace Math3D;
  using namespace GLDraw;

class RobotPoseBackend : public ResourceGUIBackend
{
 public:
  AppUtils::ProgramSettings settings;
  RobotModel* robot;
  int cur_link,cur_driver;
  vector<bool> self_colliding, env_colliding;

  int pose_objects;
  vector<RobotPoseWidget> robotWidgets;
  vector<RigidObjectPoseWidget> objectWidgets;
  WidgetSet allWidgets;
  GLDraw::Widget* lastActiveWidget;
  int draw_geom,draw_poser,draw_bbs,draw_com,draw_frame,draw_sensors;
  //temp: sensors storage
  RobotSensors robotSensors;

  RobotPoseBackend(WorldModel* world,ResourceManager* library);
  virtual void Start();
  void UpdateConfig();
  virtual void RenderWorld();
  virtual bool OnButtonPress(const string& button);
  virtual bool OnButtonToggle(const string& button,int checked);
  virtual bool OnCommand(const string& cmd,const string& args);
  virtual void DoPassiveMouseMove(int x, int y);
  virtual void BeginDrag(int x,int y,int button,int modifiers);
  virtual void EndDrag(int x,int y,int button,int modifiers);
  virtual void DoFreeDrag(int dx,int dy,int button);
  void SetDrawExpanded(int value);

  Stance GetFlatStance(Real tolerance=0);
  Stance GetNearbyStance(Real tolerance=0);
  void CleanContacts(Hold&,Real xtol=0,Real ntol=0);
  ResourcePtr PoserToResource(const string& type);
};

} // namespace Klampt

#endif //INTERFACE_ROBOTPOSEGUI_H