database_capture_region.h

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// Author(s): Mehmet Dogar (mdogar@cs.cmu.edu)

#ifndef _DATABASE_CAPTURE_REGION_H_
#define _DATABASE_CAPTURE_REGION_H_

#include <iostream>

#include <geometry_msgs/Pose.h>

#include <database_interface/db_class.h>

#include <boost/shared_ptr.hpp>

#include "household_objects_database/database_helper_classes.h"

namespace household_objects_database {

class DatabaseCaptureRegion : public database_interface::DBClass
{
 private:

 public:
  database_interface::DBField<int> id_;

  database_interface::DBField<int> scaled_model_id_;

  database_interface::DBField<std::string> object_description_;
  database_interface::DBField<std::string> object_geometry_hash_;
  database_interface::DBField<std::string> robot_geometry_hash_;

  database_interface::DBField<double> hand_object_coefficient_of_friction_;
  database_interface::DBField<double> pushing_distance_;
  database_interface::DBField<double> in_hand_distance_;

  database_interface::DBField<double> y_resolution_;
  database_interface::DBField<double> start_y_offset_;
  database_interface::DBField<int> n_y_steps_;

  database_interface::DBField<double> rotation_resolution_;
  database_interface::DBField<int> n_rotations_;

  database_interface::DBField< std::vector< std::vector< double > > > left_pushing_distances_;
  database_interface::DBField< std::vector< std::vector< double > > > right_pushing_distances_;

  database_interface::DBField< std::vector< std::vector< int > > > left_pushing_roll_sides_;
  database_interface::DBField< std::vector< std::vector< int > > > right_pushing_roll_sides_;

  database_interface::DBField<double> radius_of_cylinder_bounding_the_object_;
  database_interface::DBField<DatabasePose> capture_region_computation_frame_in_object_frame_;

  database_interface::DBField<double> fingertip_frame_to_pushing_surface_distance_;
  database_interface::DBField<double> finger_padding_;


  DatabaseCaptureRegion() :
    id_(database_interface::DBFieldBase::TEXT, this, "capture_region_id", "capture_region", true),
    scaled_model_id_(database_interface::DBFieldBase::TEXT, this, "scaled_model_id", "capture_region", true),
    object_description_(database_interface::DBFieldBase::TEXT, this, "object_description", "capture_region", true),
    object_geometry_hash_(database_interface::DBFieldBase::TEXT, this, "object_geometry_hash", "capture_region", true),
    robot_geometry_hash_(database_interface::DBFieldBase::TEXT, this, "robot_geometry_hash", "capture_region", true),
    hand_object_coefficient_of_friction_(database_interface::DBFieldBase::TEXT, this, "hand_object_coefficient_of_friction", "capture_region", true),
    pushing_distance_(database_interface::DBFieldBase::TEXT, this, "pushing_distance", "capture_region", true),
    in_hand_distance_(database_interface::DBFieldBase::TEXT, this, "in_hand_distance", "capture_region", true),
    y_resolution_(database_interface::DBFieldBase::TEXT, this, "y_resolution", "capture_region", true),
    start_y_offset_(database_interface::DBFieldBase::TEXT, this, "start_y_offset", "capture_region", true),
    n_y_steps_(database_interface::DBFieldBase::TEXT, this, "n_y_steps", "capture_region", true),
    rotation_resolution_(database_interface::DBFieldBase::TEXT, this, "rotation_resolution", "capture_region", true),
    n_rotations_(database_interface::DBFieldBase::TEXT, this, "n_rotations", "capture_region", true),
    left_pushing_distances_(database_interface::DBFieldBase::TEXT, this, "left_pushing_distances", "capture_region", true),
    right_pushing_distances_(database_interface::DBFieldBase::TEXT, this, "right_pushing_distances", "capture_region", true),
    left_pushing_roll_sides_(database_interface::DBFieldBase::TEXT, this, "left_pushing_roll_sides", "capture_region", true),
    right_pushing_roll_sides_(database_interface::DBFieldBase::TEXT, this, "right_pushing_roll_sides", "capture_region", true),
    radius_of_cylinder_bounding_the_object_(database_interface::DBFieldBase::TEXT, this, "radius_of_cylinder_bounding_the_object", "capture_region", true),
    capture_region_computation_frame_in_object_frame_(database_interface::DBFieldBase::TEXT, this, "capture_region_computation_frame_in_object_frame", "capture_region", true),
    fingertip_frame_to_pushing_surface_distance_(database_interface::DBFieldBase::TEXT, this, "fingertip_frame_to_pushing_surface_distance", "capture_region", true),
    finger_padding_(database_interface::DBFieldBase::TEXT, this, "finger_padding", "capture_region", true)
  {
    //primary key field
    primary_key_field_ = &id_;
    //all the other fields
    fields_.push_back(&scaled_model_id_);
    fields_.push_back(&object_description_);
    fields_.push_back(&object_geometry_hash_);
    fields_.push_back(&robot_geometry_hash_);
    fields_.push_back(&hand_object_coefficient_of_friction_);
    fields_.push_back(&pushing_distance_);
    fields_.push_back(&in_hand_distance_);
    fields_.push_back(&y_resolution_);
    fields_.push_back(&start_y_offset_);
    fields_.push_back(&n_y_steps_);
    fields_.push_back(&rotation_resolution_);
    fields_.push_back(&n_rotations_);
    fields_.push_back(&left_pushing_distances_);
    fields_.push_back(&right_pushing_distances_);
    fields_.push_back(&left_pushing_roll_sides_);
    fields_.push_back(&right_pushing_roll_sides_);
    fields_.push_back(&radius_of_cylinder_bounding_the_object_);
    fields_.push_back(&capture_region_computation_frame_in_object_frame_);
    fields_.push_back(&fingertip_frame_to_pushing_surface_distance_);
    fields_.push_back(&finger_padding_);

    //sequences
    id_.setSequenceName("capture_region_id_seq");

    //by default, all fields here are used, and many of then not-null, so sync both ways
    setAllFieldsReadFromDatabase(true);
    setAllFieldsWriteToDatabase(true);
    //primary key id_ only syncs from database; it has a sequence which is used by default on insertions
    id_.setWriteToDatabase(false);
  }

  ~DatabaseCaptureRegion(){}
};


typedef boost::shared_ptr<DatabaseCaptureRegion> DatabaseCaptureRegionPtr;

} //namespace

#endif