probabilistic_grasp_planner::ClusterRepGraspRetriever Class Reference

#include <grasp_retriever.h>

Inheritance diagram for probabilistic_grasp_planner::ClusterRepGraspRetriever:

[legend]

List of all members.

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}.

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Detailed Description

Definition at line 127 of file grasp_retriever.h.

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Constructor & Destructor Documentation

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

Definition at line 245 of file grasp_retriever.cpp.

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Member Function Documentation

void probabilistic_grasp_planner::ClusterRepGraspRetriever::fetchFromDB

(

)

[virtual]

Reimplemented from probabilistic_grasp_planner::DatabaseGraspRetriever.

Definition at line 254 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.

Reimplemented from probabilistic_grasp_planner::DatabaseGraspRetriever.

Reimplemented in probabilistic_grasp_planner::DebugClusterRepGraspRetriever.

Definition at line 289 of file grasp_retriever.cpp.

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Member Data Documentation

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}.

Reimplemented from probabilistic_grasp_planner::DatabaseGraspRetriever.

Definition at line 131 of file grasp_retriever.h.

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

• grasp_retriever.h
• grasp_retriever.cpp