SqlDatabaseManager implements DatabaseManager for using the Postgresql version of the CGDB. More...
#include <sql_database_manager.h>
Public Member Functions | |
| virtual bool | AcquireNextTask (TaskRecord *) |
| Acquires the next experiment to be executed from the list of tasks in the database. | |
| virtual bool | AlignmentMethodList (vector< string > *alignment_method_list) const |
| Returns a vector of strings representing the available precomputed alignment methods. | |
| virtual bool | DeleteGrasp (Grasp *) const |
| Delete a grasp from the database. | |
| virtual bool | DistanceFunctionList (vector< string > *distance_function_list) const |
| Returns a vector of strings representing the available neighbor distance functions. | |
| virtual bool | GetAlignment (const Model &source, const Model &dest, const string &alignment_method_name, float alignment[16]) const |
| Get the 4x4 alignment for 2 Models that are both in the database. | |
| virtual bool | GetGrasps (const Model &model, const string &hand_name, vector< Grasp * > *grasp_list) const |
| Get a list of the Grasps for a Model. | |
| virtual bool | GetNeighbors (const Model &model, const string &distance_function_name, const int num_neighbors, vector< pair< Model *, double > > *neighbors) const |
| Get the neighbors for a model from the database. Returns false if no neighbors are found. | |
| virtual bool | GetPlanningTaskRecord (int task_id, PlanningTaskRecord *) |
| Fills in the details for a planning task based on the task id. | |
| virtual bool | GraspTypeList (vector< string > *type_list) const |
| Returns a vector of strings representing the available grasp sources. | |
| virtual bool | InsertGraspPair (const Grasp *, const Grasp *) const |
| Inserts into the database info that a pair of existing db grasps can be executed simultaneously. | |
| virtual bool | isConnected () const |
| Returns true if the manager has successfully connected to the database. | |
| virtual bool | LoadModelGeometry (Model *) const |
| Loads a model's geometry directly from the database. | |
| virtual bool | ModelList (vector< Model * > *model_list, FilterList::FilterType filter=FilterList::NONE) const |
| Returns a vector with pointers to every Model in the database, possibly filtered. | |
| virtual bool | SaveAlignment (const Model &source, const Model &dest, const string &alignment_method_name, const float alignment[16]) const |
| Save a 4x4 alignment into the database. | |
| virtual bool | SaveGrasp (const Grasp *grasp) const |
| Save a grasp into the database. | |
| virtual bool | SaveNeighbors (const Model &model, const string &distance_function_name, const vector< pair< Model *, double > > &neighbors) const |
| Save the neighbors for a model into the database. | |
| virtual bool | ScaledModel (Model *&model, int scaled_model_id) const |
| Gets one individual model from the database based on scaled model id. | |
| void | SetGraspAllocator (GraspAllocator *allocator) |
| Sets a new grasp allocator; deletes the old one. | |
| virtual bool | SetGraspClusterRep (Grasp *, bool) const |
| Sets the cluster_rep field of the grasp in the database. | |
| virtual bool | SetGraspTableClearance (Grasp *, double) const |
| Sets the table_clearance field of the grasp in the database. | |
| void | SetModelAllocator (ModelAllocator *allocator) |
| Sets a new model allocator; deletes the old one. | |
| virtual bool | SetTaskStatus (int, const string &) |
| Change the status of a task in the database (e.g. mark it as COMPLETED). | |
| SqlDatabaseManager (const string &host_name, const int port, const string &user_name, const string &password, const string &database_name, ModelAllocator *model_allocator, GraspAllocator *grasp_allocator, const string &connection_type="QPSQL") | |
| ~SqlDatabaseManager () | |
Protected Attributes | |
| DatabaseConnection | database_ |
| The connection to the SQL database. | |
| string | model_root_ |
| Absolute path to the root directory where geometry and thumbnails are stored. | |
SqlDatabaseManager implements DatabaseManager for using the Postgresql version of the CGDB.
Definition at line 44 of file sql_database_manager.h.
| db_planner::SqlDatabaseManager::SqlDatabaseManager | ( | const string & | host_name, | |
| const int | port, | |||
| const string & | user_name, | |||
| const string & | password, | |||
| const string & | database_name, | |||
| ModelAllocator * | model_allocator, | |||
| GraspAllocator * | grasp_allocator, | |||
| const string & | connection_type = "QPSQL" | |||
| ) | [inline] |
Definition at line 52 of file sql_database_manager.h.
| db_planner::SqlDatabaseManager::~SqlDatabaseManager | ( | ) | [inline] |
Definition at line 71 of file sql_database_manager.h.
| virtual bool db_planner::SqlDatabaseManager::AcquireNextTask | ( | TaskRecord * | rec | ) | [inline, virtual] |
Acquires the next experiment to be executed from the list of tasks in the database.
Also marks it as RUNNING in an atomic fashion, so that it is not acquired by another process.
Implements db_planner::DatabaseManager.
Definition at line 130 of file sql_database_manager.h.
| bool db_planner::SqlDatabaseManager::AlignmentMethodList | ( | vector< string > * | alignment_method_list | ) | const [virtual] |
Returns a vector of strings representing the available precomputed alignment methods.
Implements db_planner::DatabaseManager.
Definition at line 208 of file sql_database_manager.cpp.
| virtual bool db_planner::SqlDatabaseManager::DeleteGrasp | ( | Grasp * | grasp | ) | const [inline, virtual] |
Delete a grasp from the database.
Implements db_planner::DatabaseManager.
Definition at line 129 of file sql_database_manager.h.
| bool db_planner::SqlDatabaseManager::DistanceFunctionList | ( | vector< string > * | distance_function_list | ) | const [virtual] |
Returns a vector of strings representing the available neighbor distance functions.
Implements db_planner::DatabaseManager.
Definition at line 203 of file sql_database_manager.cpp.
| bool db_planner::SqlDatabaseManager::GetAlignment | ( | const Model & | source, | |
| const Model & | dest, | |||
| const string & | alignment_method_name, | |||
| float | alignment[16] | |||
| ) | const [virtual] |
Get the 4x4 alignment for 2 Models that are both in the database.
Returns false if either Model isn't in the database or if no alignment is found. Transforms are left-multiply and column major.
Implements db_planner::DatabaseManager.
Definition at line 51 of file sql_database_manager.cpp.
| bool db_planner::SqlDatabaseManager::GetGrasps | ( | const Model & | model, | |
| const string & | hand_name, | |||
| vector< Grasp * > * | grasp_list | |||
| ) | const [virtual] |
Get a list of the Grasps for a Model.
Implements db_planner::DatabaseManager.
Definition at line 218 of file sql_database_manager.cpp.
| bool db_planner::SqlDatabaseManager::GetNeighbors | ( | const Model & | model, | |
| const string & | distance_function_name, | |||
| const int | num_neighbors, | |||
| vector< pair< Model *, double > > * | neighbors | |||
| ) | const [virtual] |
Get the neighbors for a model from the database. Returns false if no neighbors are found.
Note that num_neighbors is misleading; this will return up to 2 x num_neighbors models, since whenever possible it returns a model at the scale above and below the query model.
Implements db_planner::DatabaseManager.
Definition at line 122 of file sql_database_manager.cpp.
| virtual bool db_planner::SqlDatabaseManager::GetPlanningTaskRecord | ( | int | task_id, | |
| PlanningTaskRecord * | rec | |||
| ) | [inline, virtual] |
Fills in the details for a planning task based on the task id.
Implements db_planner::DatabaseManager.
Definition at line 132 of file sql_database_manager.h.
| bool db_planner::SqlDatabaseManager::GraspTypeList | ( | vector< string > * | type_list | ) | const [virtual] |
Returns a vector of strings representing the available grasp sources.
Implements db_planner::DatabaseManager.
Definition at line 213 of file sql_database_manager.cpp.
| virtual bool db_planner::SqlDatabaseManager::InsertGraspPair | ( | const Grasp * | grasp1, | |
| const Grasp * | grasp2 | |||
| ) | const [inline, virtual] |
Inserts into the database info that a pair of existing db grasps can be executed simultaneously.
Implements db_planner::DatabaseManager.
Definition at line 134 of file sql_database_manager.h.
| virtual bool db_planner::SqlDatabaseManager::isConnected | ( | ) | const [inline, virtual] |
Returns true if the manager has successfully connected to the database.
Implements db_planner::DatabaseManager.
Definition at line 85 of file sql_database_manager.h.
| virtual bool db_planner::SqlDatabaseManager::LoadModelGeometry | ( | Model * | ) | const [inline, virtual] |
Loads a model's geometry directly from the database.
Implements db_planner::DatabaseManager.
Definition at line 136 of file sql_database_manager.h.
| bool db_planner::SqlDatabaseManager::ModelList | ( | vector< Model * > * | model_list, | |
| FilterList::FilterType | filter = FilterList::NONE | |||
| ) | const [virtual] |
Returns a vector with pointers to every Model in the database, possibly filtered.
Implements db_planner::DatabaseManager.
Definition at line 159 of file sql_database_manager.cpp.
| bool db_planner::SqlDatabaseManager::SaveAlignment | ( | const Model & | source, | |
| const Model & | dest, | |||
| const string & | alignment_method_name, | |||
| const float | alignment[16] | |||
| ) | const [virtual] |
Save a 4x4 alignment into the database.
Transforms are left-multiply and column major.
Implements db_planner::DatabaseManager.
Definition at line 68 of file sql_database_manager.cpp.
| bool db_planner::SqlDatabaseManager::SaveGrasp | ( | const Grasp * | grasp | ) | const [virtual] |
Save a grasp into the database.
Implements db_planner::DatabaseManager.
Definition at line 300 of file sql_database_manager.cpp.
| bool db_planner::SqlDatabaseManager::SaveNeighbors | ( | const Model & | model, | |
| const string & | distance_function_name, | |||
| const vector< pair< Model *, double > > & | neighbors | |||
| ) | const [virtual] |
Save the neighbors for a model into the database.
Implements db_planner::DatabaseManager.
Definition at line 149 of file sql_database_manager.cpp.
| virtual bool db_planner::SqlDatabaseManager::ScaledModel | ( | Model *& | model, | |
| int | scaled_model_id | |||
| ) | const [inline, virtual] |
Gets one individual model from the database based on scaled model id.
Implements db_planner::DatabaseManager.
Definition at line 137 of file sql_database_manager.h.
| void db_planner::SqlDatabaseManager::SetGraspAllocator | ( | GraspAllocator * | allocator | ) | [inline, virtual] |
Sets a new grasp allocator; deletes the old one.
Implements db_planner::DatabaseManager.
Definition at line 74 of file sql_database_manager.h.
| virtual bool db_planner::SqlDatabaseManager::SetGraspClusterRep | ( | Grasp * | grasp, | |
| bool | rep | |||
| ) | const [inline, virtual] |
Sets the cluster_rep field of the grasp in the database.
Note: this is an ugly way of updating the database. There should be a single function where a grasp is updated in the database. You check out a grasp from the dbase, do whatever you want with it and then call updateToDb or something.
Implements db_planner::DatabaseManager.
Definition at line 133 of file sql_database_manager.h.
| virtual bool db_planner::SqlDatabaseManager::SetGraspTableClearance | ( | Grasp * | grasp, | |
| double | clearance | |||
| ) | const [inline, virtual] |
Sets the table_clearance field of the grasp in the database.
Implements db_planner::DatabaseManager.
Definition at line 135 of file sql_database_manager.h.
| void db_planner::SqlDatabaseManager::SetModelAllocator | ( | ModelAllocator * | allocator | ) | [inline, virtual] |
Sets a new model allocator; deletes the old one.
Implements db_planner::DatabaseManager.
Definition at line 79 of file sql_database_manager.h.
| virtual bool db_planner::SqlDatabaseManager::SetTaskStatus | ( | int | task_id, | |
| const string & | status | |||
| ) | [inline, virtual] |
Change the status of a task in the database (e.g. mark it as COMPLETED).
Implements db_planner::DatabaseManager.
Definition at line 131 of file sql_database_manager.h.
DatabaseConnection db_planner::SqlDatabaseManager::database_ [mutable, protected] |
The connection to the SQL database.
Definition at line 47 of file sql_database_manager.h.
string db_planner::SqlDatabaseManager::model_root_ [protected] |
Absolute path to the root directory where geometry and thumbnails are stored.
Definition at line 50 of file sql_database_manager.h.
