database_helper_classes.h

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// Author(s): Peter Brook

#ifndef _DATABASE_HELPER_CLASSES_H_
#define _DATABASE_HELPER_CLASSES_H_

#include <database_interface/db_class.h>
#include <geometry_msgs/Pose.h>

namespace database_interface {

template <>
class DBField< std::vector<float> > : public DBFieldData< std::vector<float> >
{
 public:
  DBField(Type type, DBClass *owner, std::string name, std::string table_name, bool write_permission) : 
    DBFieldData< std::vector<float> >(type, owner, name, table_name, write_permission) {}

 DBField(DBClass *owner, const DBField< std::vector<float> > *other) : 
    DBFieldData< std::vector<float> >(owner, other) 
      {
        this->copy(other);
      }
  
  virtual bool fromBinary(const char* binary, size_t length) 
  {
    //recall that the size given here is in bytes
    if (!length)
    {
      data_.clear();
      return true;
    }
    //check if this is indeed a multiple of a number of floats
    if ( length % sizeof(float) != 0)
    {
      std::cerr << "Binary conversion of " << length << " bytes to vector<float> failed\n";
      return false;
    }
    data_.resize(length / sizeof(float));
    memcpy(&(data_[0]), binary, length);
    return true;
  }

  virtual bool toBinary(const char* &binary, size_t &length) const 
  {
    length = sizeof(float) * data_.size();
    if (!data_.empty())
    {
      binary = reinterpret_cast<const char*>(&(data_[0]));
    }
    return true;
  }
};

template <>
class DBField< std::vector<uint8_t> > : public DBFieldData< std::vector<uint8_t> >
{
 public:
  DBField(Type type, DBClass *owner, std::string name, std::string table_name, bool write_permission) :
    DBFieldData< std::vector<uint8_t> >(type, owner, name, table_name, write_permission) {}

 DBField(DBClass *owner, const DBField< std::vector<uint8_t> > *other) :
    DBFieldData< std::vector<uint8_t> >(owner, other)
      {
        this->copy(other);
      }

  virtual bool fromBinary(const char* binary, size_t length)
  {
    //recall that the size given here is in bytes
    if (!length)
    {
      data_.clear();
      return true;
    }
    //check if this is indeed a multiple of a number of uint8's
    if ( length % sizeof(uint8_t) != 0)
    {
      std::cerr << "Binary conversion of " << length << " bytes to vector<uint8_t> failed\n";
      return false;
    }
    data_.resize(length / sizeof(uint8_t));
    memcpy(&(data_[0]), binary, length);
    return true;
  }

  virtual bool toBinary(const char* &binary, size_t &length) const
  {
    length = sizeof(uint8_t) * data_.size();
    if (!data_.empty())
    {
      binary = reinterpret_cast<const char*>(&(data_[0]));
    }
    return true;
  }
};




} //namespace database_interface

namespace household_objects_database {

/* Database convention is currently as follows:

   - joints are represented in an array with the value of each DOF of the robot: {j1}
     (only one joint for the PR2)

   - position and orientation are also in an array, with pose as a translation and quaternion:
     {tx, ty, tz, qw, qx, qy, qz}
     WARNING: in the database, the w component of the quaternion is first!!!
*/


class DatabasePose
{
 public:
  geometry_msgs::Pose pose_;
};

std::istream& operator >> (std::istream &str, DatabasePose &dhp);
std::ostream& operator << (std::ostream &str, const DatabasePose &dhp);


class DatabaseHandPosture
{
 public:
  std::vector<double> joint_angles_;
};

std::istream& operator >> (std::istream &str, DatabaseHandPosture &dhp);
std::ostream& operator << (std::ostream &str, const DatabaseHandPosture &dhp);

} //namespace

#endif