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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #include "graspit_dbase_tasks/dbTaskDispatcher.h" 00036 00037 #include "dbase_grasp_planner/grasp_planning_task.h" 00038 #include "dbase_grasp_planner/guided_grasp_planning_task.h" 00039 #include "dbase_grasp_planner/grasp_clustering_task.h" 00040 #include "dbase_grasp_planner/velo_grasp_planning_task.h" 00041 00042 class GraspPlanningTaskCreator : public graspit_dbase_tasks::DBTaskCreator 00043 { 00044 public: 00045 virtual graspit_dbase_tasks::DBTask* operator()(graspit_dbase_tasks::DBTaskDispatcher *disp, 00046 db_planner::DatabaseManager *mgr, 00047 db_planner::TaskRecord rec) 00048 { 00049 return new dbase_grasp_planner::GraspPlanningTask(disp, mgr, rec); 00050 } 00051 }; 00052 00053 class GuidedGraspPlanningTaskCreator : public graspit_dbase_tasks::DBTaskCreator 00054 { 00055 public: 00056 virtual graspit_dbase_tasks::DBTask* operator()(graspit_dbase_tasks::DBTaskDispatcher *disp, 00057 db_planner::DatabaseManager *mgr, 00058 db_planner::TaskRecord rec) 00059 { 00060 return new dbase_grasp_planner::GuidedGraspPlanningTask(disp, mgr, rec); 00061 } 00062 }; 00063 00064 class VeloGraspPlanningTaskCreator : public graspit_dbase_tasks::DBTaskCreator 00065 { 00066 public: 00067 virtual graspit_dbase_tasks::DBTask* operator()(graspit_dbase_tasks::DBTaskDispatcher *disp, 00068 db_planner::DatabaseManager *mgr, 00069 db_planner::TaskRecord rec) 00070 { 00071 return new dbase_grasp_planner::VeloGraspPlanningTask(disp, mgr, rec); 00072 } 00073 }; 00074 00075 class GraspClusteringTaskCreator : public graspit_dbase_tasks::DBTaskCreator 00076 { 00077 public: 00078 virtual graspit_dbase_tasks::DBTask* operator()(graspit_dbase_tasks::DBTaskDispatcher *disp, 00079 db_planner::DatabaseManager *mgr, 00080 db_planner::TaskRecord rec) 00081 { 00082 return new dbase_grasp_planner::GraspClusteringTask(disp, mgr, rec); 00083 } 00084 }; 00085 00090 extern "C" Plugin* createPlugin() { 00091 graspit_dbase_tasks::DBTaskDispatcher* dispatcher = new graspit_dbase_tasks::DBTaskDispatcher; 00092 00093 GraspPlanningTaskCreator *creator = new GraspPlanningTaskCreator; 00094 dispatcher->registerTaskCreator("GRASP_PLANNING", creator); 00095 00096 GuidedGraspPlanningTaskCreator *guided_creator = new GuidedGraspPlanningTaskCreator; 00097 dispatcher->registerTaskCreator("GUIDED_GRASP_PLANNING", guided_creator); 00098 00099 VeloGraspPlanningTaskCreator *velo_creator = new VeloGraspPlanningTaskCreator; 00100 dispatcher->registerTaskCreator("VELO_GRASP_PLANNING", velo_creator); 00101 00102 GraspClusteringTaskCreator *clustering_creator = new GraspClusteringTaskCreator; 00103 dispatcher->registerTaskCreator("GRASP_CLUSTERING", clustering_creator); 00104 00105 return dispatcher; 00106 } 00107 00108 extern "C" std::string getType() { 00109 return "dbase_grasp_planning"; 00110 } 00111