#include <grasp_retriever.h>

Inheritance diagram for probabilistic_grasp_planner::DatabaseGraspRetriever:

Public Member Functions
	DatabaseGraspRetriever (ObjectsDatabasePtr database, const household_objects_database_msgs::DatabaseModelPose &model, const std::string &arm_name, bool prune_compliant_copies, bool use_cluster_rep_grasps)
virtual void	fetchFromDB ()
virtual void	getGrasps (std::vector< GraspWithMetadata > &grasps)
Protected Member Functions
void	appendMetadataToGrasps (const std::vector< household_objects_database::DatabaseGraspPtr > &db_grasps, std::vector< GraspWithMetadata > &grasps)
void	pruneGraspList (std::vector< household_objects_database::DatabaseGraspPtr > &grasps, double gripper_threshold, double table_clearance_threshold)
	Prune grasps that require gripper to be open all the way, or that are marked in db as colliding with table.
Protected Attributes
ObjectsDatabasePtr	database_
const household_objects_database_msgs::DatabaseModelPose &	model_
	The model whose grasps this retriever will retrieve.
bool	prune_compliant_copies_
	Whether compliant copies should be returned or not.
bool	use_cluster_rep_grasps_
	Whether only cluster representative grasps should be returned.
Private Attributes
std::map< int, std::vector < household_objects_database::DatabaseGraspPtr > >	grasps_cache_
	A cache storing model_id->grasps for that model. This is private since subclasses should not share caches.

Detailed Description

Definition at line 75 of file grasp_retriever.h.

Constructor & Destructor Documentation

probabilistic_grasp_planner::DatabaseGraspRetriever::DatabaseGraspRetriever	(	ObjectsDatabasePtr	database,
		const household_objects_database_msgs::DatabaseModelPose &	model,
		const std::string &	arm_name,
		bool	prune_compliant_copies,
		bool	use_cluster_rep_grasps
	)

Instantiates a DatabaseGraspRetriever which gets all grasps for a model (as opposed to just cluster rep grasps)

Definition at line 182 of file grasp_retriever.cpp.

Member Function Documentation

void probabilistic_grasp_planner::DatabaseGraspRetriever::appendMetadataToGrasps	(	const std::vector< household_objects_database::DatabaseGraspPtr > &	db_grasps,
		std::vector< GraspWithMetadata > &	grasps
	)		`[protected]`

Given a model which the grasps are specified relative to, and a list of grasps from the database, populates a list of GraspWithMetadata objects which contains the basic Grasp object for final return by the planner and additional information used by the planner such as energy metrics and object coordinate frames.

The "tool point" is roughly in the middle of the object enclosed by the grasp, so roughly 5cm from wrist

Definition at line 86 of file grasp_retriever.cpp.

void probabilistic_grasp_planner::DatabaseGraspRetriever::fetchFromDB ( ) [virtual]

Reimplemented in probabilistic_grasp_planner::PerturbationGraspRetriever, and probabilistic_grasp_planner::ClusterRepGraspRetriever.

Definition at line 193 of file grasp_retriever.cpp.

void probabilistic_grasp_planner::DatabaseGraspRetriever::getGrasps ( std::vector< GraspWithMetadata > & grasps ) [virtual]

Given a list of models, retrieves all of the cluster representative grasps for those models and stores them with their metadata in the grasps vector.

Implements probabilistic_grasp_planner::GraspRetriever.

Reimplemented in probabilistic_grasp_planner::PerturbationGraspRetriever, probabilistic_grasp_planner::DebugClusterRepGraspRetriever, and probabilistic_grasp_planner::ClusterRepGraspRetriever.

Definition at line 240 of file grasp_retriever.cpp.

void probabilistic_grasp_planner::DatabaseGraspRetriever::pruneGraspList	(	std::vector< household_objects_database::DatabaseGraspPtr > &	grasps,
		double	gripper_threshold,
		double	table_clearance_threshold
	)		`[protected]`