bayesian_grasp_planner: object_detector.h Source File

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00034 
00035 #ifndef OBJECT_DETECTOR_H
00036 #define OBJECT_DETECTOR_H
00037 
00038 #include <boost/shared_ptr.hpp>
00039 
00040 #include <ros/ros.h>
00041 
00042 #include <object_manipulation_msgs/GraspableObject.h>
00043 
00044 #include "bayesian_grasp_planner/probability_distribution.h"
00045 
00046 namespace bayesian_grasp_planner {
00047 
00048 class ObjectDetector
00049 {
00050 public:
00051   virtual double getProbabilityForDetection(const object_manipulation_msgs::GraspableObject &go) const = 0;
00052 }; 
00053 
00054 class DatabaseObjectDetector : public ObjectDetector
00055 {
00056 public:
00057   DatabaseObjectDetector(const object_manipulation_msgs::GraspableObject &object, 
00058                          boost::shared_ptr<ProbabilityDistribution> correct_distribution,
00059                          boost::shared_ptr<ProbabilityDistribution> incorrect_distribution) :
00060     correct_distribution_(correct_distribution),
00061     incorrect_distribution_(incorrect_distribution)
00062   {
00063     ROS_ASSERT(object.potential_models.size() == 1);
00064     my_object_ = object;
00065   }
00066 
00067   double getProbabilityForDetection(const object_manipulation_msgs::GraspableObject &go) const
00068   {
00069     if ( go.potential_models.empty() || 
00070          go.potential_models[0].model_id != my_object_.potential_models[0].model_id )
00071     {
00072       return incorrect_distribution_->evaluate(my_object_.potential_models[0].confidence);
00073     }
00074     return correct_distribution_->evaluate(my_object_.potential_models[0].confidence);
00075   }
00076 
00077 private:
00078   object_manipulation_msgs::GraspableObject my_object_;
00079   boost::shared_ptr<ProbabilityDistribution> correct_distribution_;
00080   boost::shared_ptr<ProbabilityDistribution> incorrect_distribution_;
00081 };
00082 
00083 }
00084 
00085 #endif