probabilistic_grasp_planner::DatabaseGraspRetriever Class Reference

#include <grasp_retriever.h>

Inheritance diagram for probabilistic_grasp_planner::DatabaseGraspRetriever:

[legend]

List of all members.

Public Member Functions
	DatabaseGraspRetriever (ObjectsDatabasePtr database, const household_objects_database_msgs::DatabaseModelPose &model, const std::string &arm_name, bool prune_compliant_copies, bool use_cluster_rep_grasps)
virtual void	fetchFromDB ()
virtual void	getGrasps (std::vector< GraspWithMetadata > &grasps)
Protected Member Functions
void	appendMetadataToGrasps (const std::vector< household_objects_database::DatabaseGraspPtr > &db_grasps, std::vector< GraspWithMetadata > &grasps)
void	pruneGraspList (std::vector< household_objects_database::DatabaseGraspPtr > &grasps, double gripper_threshold, double table_clearance_threshold)
Protected Attributes
ObjectsDatabasePtr	database_
const household_objects_database_msgs::DatabaseModelPose &	model_
	The model whose grasps this retriever will retrieve.
bool	prune_compliant_copies_
	Whether compliant copies should be returned or not.
bool	use_cluster_rep_grasps_
	Whether only cluster representative grasps should be returned.
Private Attributes
std::map< int, std::vector < household_objects_database::DatabaseGraspPtr > >	grasps_cache_
	A cache storing model_id->grasps for that model. This is private since subclasses should not share caches.

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Detailed Description

Definition at line 75 of file grasp_retriever.h.

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Constructor & Destructor Documentation

probabilistic_grasp_planner::DatabaseGraspRetriever::DatabaseGraspRetriever	(	ObjectsDatabasePtr	database,
		const household_objects_database_msgs::DatabaseModelPose &	model,
		const std::string &	arm_name,
		bool	prune_compliant_copies,
		bool	use_cluster_rep_grasps
	)

Instantiates a DatabaseGraspRetriever which gets all grasps for a model (as opposed to just cluster rep grasps)

Definition at line 167 of file grasp_retriever.cpp.

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Member Function Documentation

void probabilistic_grasp_planner::DatabaseGraspRetriever::appendMetadataToGrasps	(	const std::vector< household_objects_database::DatabaseGraspPtr > &	db_grasps,
		std::vector< GraspWithMetadata > &	grasps
	)			[protected]

Given a model which the grasps are specified relative to, and a list of grasps from the database, populates a list of GraspWithMetadata objects which contains the basic Grasp object for final return by the planner and additional information used by the planner such as energy metrics and object coordinate frames.

void probabilistic_grasp_planner::DatabaseGraspRetriever::fetchFromDB

(

)

[virtual]

Reimplemented in probabilistic_grasp_planner::ClusterRepGraspRetriever, and probabilistic_grasp_planner::PerturbationGraspRetriever.

Definition at line 178 of file grasp_retriever.cpp.

void probabilistic_grasp_planner::DatabaseGraspRetriever::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.

Implements probabilistic_grasp_planner::GraspRetriever.

Reimplemented in probabilistic_grasp_planner::ClusterRepGraspRetriever, probabilistic_grasp_planner::DebugClusterRepGraspRetriever, and probabilistic_grasp_planner::PerturbationGraspRetriever.

Definition at line 225 of file grasp_retriever.cpp.

void probabilistic_grasp_planner::DatabaseGraspRetriever::pruneGraspList	(	std::vector< household_objects_database::DatabaseGraspPtr > &	grasps,
		double	gripper_threshold,
		double	table_clearance_threshold
	)			[protected]

Removes grasps from the list which do not match certain criteria (such as not coming from beneath the object).

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Member Data Documentation

ObjectsDatabasePtr probabilistic_grasp_planner::DatabaseGraspRetriever::database_ [protected]

Definition at line 82 of file grasp_retriever.h.

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

A cache storing model_id->grasps for that model. This is private since subclasses should not share caches.

Reimplemented in probabilistic_grasp_planner::ClusterRepGraspRetriever.

Definition at line 79 of file grasp_retriever.h.

const household_objects_database_msgs::DatabaseModelPose& probabilistic_grasp_planner::DatabaseGraspRetriever::model_ [protected]

The model whose grasps this retriever will retrieve.

Definition at line 85 of file grasp_retriever.h.

bool probabilistic_grasp_planner::DatabaseGraspRetriever::prune_compliant_copies_ [protected]

Whether compliant copies should be returned or not.

Definition at line 88 of file grasp_retriever.h.

bool probabilistic_grasp_planner::DatabaseGraspRetriever::use_cluster_rep_grasps_ [protected]

Whether only cluster representative grasps should be returned.

Definition at line 91 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