probabilistic_grasp_planner::ClusterRepGraspRetriever Class Reference

Inheritance diagram for probabilistic_grasp_planner::ClusterRepGraspRetriever:

Public Member Functions
	ClusterRepGraspRetriever (ObjectsDatabasePtr database, const household_objects_database_msgs::DatabaseModelPose &model, const std::string &arm_name)
virtual void	fetchFromDB ()
virtual void	getGrasps (std::vector< GraspWithMetadata > &grasps)
Private Attributes
std::map< int, std::vector < household_objects_database::DatabaseGraspPtr > >	grasps_cache_
	A cache storing model_id->{cluster rep grasps for that model}.

Detailed Description

Definition at line 127 of file grasp_retriever.h.

probabilistic_grasp_planner::ClusterRepGraspRetriever::ClusterRepGraspRetriever	(	ObjectsDatabasePtr	database,
		const household_objects_database_msgs::DatabaseModelPose &	model,
		const std::string &	arm_name
	)

Definition at line 230 of file grasp_retriever.cpp.

void probabilistic_grasp_planner::ClusterRepGraspRetriever::fetchFromDB ( ) [virtual]

Definition at line 239 of file grasp_retriever.cpp.

void probabilistic_grasp_planner::ClusterRepGraspRetriever::getGrasps ( std::vector< GraspWithMetadata > & grasps ) [virtual]

Given a list of models, retrieves all of the cluster representative grasps for those models and stores them with their metadata in the grasps vector.

Definition at line 274 of file grasp_retriever.cpp.

std::map<int, std::vector<household_objects_database::DatabaseGraspPtr> > probabilistic_grasp_planner::ClusterRepGraspRetriever::grasps_cache_ [private]

A cache storing model_id->{cluster rep grasps for that model}.

Definition at line 131 of file grasp_retriever.h.

The documentation for this class was generated from the following files: