Grasp.cpp
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00001 
00014 // graspdb
00015 #include "graspdb/Grasp.h"
00016 
00017 using namespace std;
00018 using namespace rail::pick_and_place::graspdb;
00019 
00020 Grasp::Grasp(const uint32_t id, const uint32_t grasp_model_id, const Pose &grasp_pose, const string &eef_frame_id,
00021     const uint32_t successes, const uint32_t attempts, const time_t created)
00022     : Entity(id, created),
00023       grasp_pose_(grasp_pose), eef_frame_id_(eef_frame_id)
00024 {
00025   grasp_model_id_ = grasp_model_id;
00026   successes_ = successes;
00027   attempts_ = attempts;
00028 }
00029 
00030 Grasp::Grasp(const Pose &grasp_pose, const uint32_t grasp_model_id, const string &eef_frame_id,
00031     const uint32_t successes, const uint32_t attempts)
00032     : grasp_pose_(grasp_pose), eef_frame_id_(eef_frame_id)
00033 {
00034   grasp_model_id_ = grasp_model_id;
00035   successes_ = successes;
00036   attempts_ = attempts;
00037 }
00038 
00039 Grasp::Grasp(const rail_pick_and_place_msgs::GraspWithSuccessRate &g, const uint32_t grasp_model_id)
00040     : Entity(g.id, g.created.sec),
00041       grasp_pose_(g.grasp.grasp_pose), eef_frame_id_(g.grasp.eef_frame_id)
00042 {
00043   grasp_model_id_ = grasp_model_id;
00044   successes_ = 0;
00045   attempts_ = 0;
00046 }
00047 
00048 uint32_t Grasp::getGraspModelID() const
00049 {
00050   return grasp_model_id_;
00051 }
00052 
00053 void Grasp::setGraspModelID(const uint32_t grasp_model_id)
00054 {
00055   grasp_model_id_ = grasp_model_id;
00056 }
00057 
00058 const Pose &Grasp::getGraspPose() const
00059 {
00060   return grasp_pose_;
00061 }
00062 
00063 Pose &Grasp::getGraspPose()
00064 {
00065   return grasp_pose_;
00066 }
00067 
00068 void Grasp::setGraspPose(const Pose &grasp_pose)
00069 {
00070   grasp_pose_ = grasp_pose;
00071 }
00072 
00073 const string &Grasp::getEefFrameID() const
00074 {
00075   return eef_frame_id_;
00076 }
00077 
00078 void Grasp::setEefFrameID(const string &eef_frame_id)
00079 {
00080   eef_frame_id_ = eef_frame_id;
00081 }
00082 
00083 uint32_t Grasp::getSuccesses() const
00084 {
00085   return successes_;
00086 }
00087 
00088 void Grasp::setSuccesses(const uint32_t successes)
00089 {
00090   successes_ = successes;
00091 }
00092 
00093 uint32_t Grasp::getAttempts() const
00094 {
00095   return attempts_;
00096 }
00097 
00098 void Grasp::setAttempts(const uint32_t attempts)
00099 {
00100   attempts_ = attempts;
00101 }
00102 
00103 double Grasp::getSuccessRate() const
00104 {
00105   // check for a 0 attempt
00106   return (attempts_ == 0) ? 0 : ((double) successes_) / ((double) attempts_);
00107 }
00108 
00109 
00110 rail_pick_and_place_msgs::GraspWithSuccessRate Grasp::toROSGraspWithSuccessRateMessage() const
00111 {
00112   rail_pick_and_place_msgs::GraspWithSuccessRate g;
00113   g.id = this->getID();
00114   g.grasp.grasp_pose = grasp_pose_.toROSPoseStampedMessage();
00115   g.grasp.eef_frame_id = eef_frame_id_;
00116   g.grasp.successes = successes_;
00117   g.grasp.attempts = attempts_;
00118   g.created.nsec = 0;
00119   g.created.sec = this->getCreated();
00120   return g;
00121 }


graspdb
Author(s): Russell Toris
autogenerated on Sun Mar 6 2016 11:38:59