database_grasp.h

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// Author(s): Matei Ciocarlie

#ifndef _DATABASE_GRASP_H_
#define _DATABASE_GRASP_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 {

/*
   For now we use the stored "energy" from the database as grasp quality; this is OK, though
   in the future we hope to have better measures. For now, this has the counterintuitive effect
   that lower values are better, which is what the term "energy" implies. However, in this
   class we use it as "quality" which usually means that higher is better.
 */

class DatabaseGrasp : public database_interface::DBClass
{
 private:

 public:
  database_interface::DBField<int> id_;
  database_interface::DBField<int> scaled_model_id_;

  database_interface::DBField<DatabasePose> pre_grasp_pose_;
  database_interface::DBField<DatabaseHandPosture> pre_grasp_posture_;

  database_interface::DBField<DatabasePose> final_grasp_pose_;
  database_interface::DBField<DatabaseHandPosture> final_grasp_posture_;

  database_interface::DBField<double> quality_;
  database_interface::DBField<double> pre_grasp_clearance_;
  database_interface::DBField<bool> cluster_rep_;
  database_interface::DBField<double> table_clearance_;

  database_interface::DBField<std::string> hand_name_;

  database_interface::DBField<bool> compliant_copy_;
  database_interface::DBField<int> compliant_original_id_;

  database_interface::DBField<double> scaled_quality_;

  database_interface::DBField<bool> fingertip_object_collision_;

  DatabaseGrasp() :
   id_(database_interface::DBFieldBase::TEXT, this, "grasp_id", "grasp", true),
   scaled_model_id_(database_interface::DBFieldBase::TEXT, this, "scaled_model_id", "grasp", true),
   pre_grasp_pose_(database_interface::DBFieldBase::TEXT, this, "grasp_pregrasp_position", "grasp", true),
   pre_grasp_posture_(database_interface::DBFieldBase::TEXT, this, "grasp_pregrasp_joints", "grasp", true),
   final_grasp_pose_(database_interface::DBFieldBase::TEXT, this, "grasp_grasp_position", "grasp", true),
   final_grasp_posture_(database_interface::DBFieldBase::TEXT, this, "grasp_grasp_joints", "grasp", true),
   quality_(database_interface::DBFieldBase::TEXT, this, "grasp_energy", "grasp", true),
   pre_grasp_clearance_(database_interface::DBFieldBase::TEXT, this, "grasp_pregrasp_clearance", "grasp", true),
   cluster_rep_(database_interface::DBFieldBase::TEXT, this, "grasp_cluster_rep", "grasp", true),
   table_clearance_(database_interface::DBFieldBase::TEXT, this, "grasp_table_clearance", "grasp", true),
   hand_name_(database_interface::DBFieldBase::TEXT, this, "hand_name", "grasp", true),
   compliant_copy_(database_interface::DBFieldBase::TEXT, this, "grasp_compliant_copy", "grasp", true),
   compliant_original_id_(database_interface::DBFieldBase::TEXT, this, "grasp_compliant_original_id", "grasp", true),
   scaled_quality_(database_interface::DBFieldBase::TEXT, this, "grasp_scaled_quality", "grasp", true),
   fingertip_object_collision_(database_interface::DBFieldBase::TEXT, this, "fingertip_object_collision", "grasp", true)
  {
    //primary key field
    primary_key_field_ = &id_;
    //all the other fields
    fields_.push_back(&scaled_model_id_);
    fields_.push_back(&pre_grasp_pose_);
    fields_.push_back(&pre_grasp_posture_);
    fields_.push_back(&final_grasp_pose_);
    fields_.push_back(&final_grasp_posture_);
    fields_.push_back(&quality_);
    fields_.push_back(&pre_grasp_clearance_);
    fields_.push_back(&cluster_rep_);
    fields_.push_back(&table_clearance_);
    fields_.push_back(&hand_name_);
    fields_.push_back(&compliant_copy_);
    fields_.push_back(&compliant_original_id_);
    fields_.push_back(&scaled_quality_);
    fields_.push_back(&fingertip_object_collision_);

    //sequences
    id_.setSequenceName("grasp_grasp_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);
  }

  ~DatabaseGrasp(){}
};


typedef boost::shared_ptr<DatabaseGrasp> DatabaseGraspPtr;

} //namespace

#endif