grasp_planning_graspit: GraspItDatabaseManager.h Source File

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00001 #ifndef GRASP_PLANNING_GRASPIT_GRASPITDATABASEMANAGER_H
00002 #define GRASP_PLANNING_GRASPIT_GRASPITDATABASEMANAGER_H
00003 
00025 #include <grasp_planning_graspit/GraspItAccessor.h>
00026 #include <string>
00027 #include <vector>
00028 
00029 namespace GraspIt
00030 {
00031 
00032 class GraspItSceneManager;
00033 
00063 class GraspItDatabaseManager: public GraspItAccessor
00064 {
00065 public:
00069     GraspItDatabaseManager(const std::string& name, const SHARED_PTR<GraspItSceneManager>& interface):
00070         GraspItAccessor(name, interface)
00071     {
00072     }
00073     virtual ~GraspItDatabaseManager()
00074     {
00075     }
00076 
00094     virtual int loadRobotToDatabase(const std::string& filename, const std::string& robotName,
00095                                     const std::vector<std::string>& jointNames) = 0;
00096 
00111     virtual int loadObjectToDatabase(const std::string& filename, const std::string& objectName,
00112                                      const bool asGraspable) = 0;
00113 
00120     int loadRobotToWorld(const std::string& robotName, const EigenTransform& transform);
00121 
00122 
00129     int loadObjectToWorld(const std::string& objectName, const EigenTransform& transform);
00130 
00131 
00139     int loadToWorld(const int modelID, const EigenTransform& transform);
00140 
00148     int unloadRobotFromWorld(const std::string& robotName);
00149 
00157     int unloadObjectFromWorld(const std::string& objectName);
00158 
00166     int unloadFromWorld(const int modelID);
00167 
00168 
00169 
00176     bool saveLoadedWorld(const std::string& filename, const bool asInventor, const bool createDir = false);
00177 
00182     virtual void getAllLoadedRobotNames(std::vector<std::string>& names) const = 0;
00183 
00188     virtual void getAllLoadedRobotIDs(std::vector<int>& ids) const = 0;
00189 
00194     virtual void getAllLoadedObjectNames(std::vector<std::string>& names) const = 0;
00195 
00200     virtual void getAllLoadedObjectIDs(std::vector<int>& ids) const = 0;
00201 
00206     virtual bool getRobotModelID(const std::string& robotName, int& id) const = 0;
00207 
00212     virtual bool getObjectModelID(const std::string& objectName, int& id) const = 0;
00213 
00220     int isModelLoaded(const int modelID) const;
00221 
00227     virtual bool getModelNameAndType(const int modelID, std::string& name, bool& isRobot) const = 0;
00228 
00229 
00236     virtual bool getRobotJointNames(const std::string& robotName,
00237                                     std::vector<std::string>& jointNames) const = 0;
00238 
00239 protected:
00246     virtual int getModelType(const int modelID) const = 0;
00247 
00251     virtual Robot * getRobotFromDatabase(const std::string& robotName) = 0;
00252 
00257     virtual Robot * getRobotFromDatabase(const int modelID) = 0;
00258 
00262     virtual Body * getObjectFromDatabase(const std::string& objectName) = 0;
00263 
00268     virtual Body * getObjectFromDatabase(const int modelID) = 0;
00269 
00274     virtual void idleEventFromSceneManager() = 0;
00275 
00280     virtual void onSceneManagerShutdown() = 0;
00281 };
00282 }  // namespace GraspIt
00283 #endif  //  GRASP_PLANNING_GRASPIT_GRASPITDATABASEMANAGER_H