bayesian_grasp_planner_tools.h

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#ifndef _BAYES_NET_GRASP_PLANNER_TOOLS_H_
#define _BAYES_NET_GRASP_PLANNER_TOOLS_H_

#include <tf/transform_datatypes.h>
#include <ros/ros.h>

namespace bayesian_grasp_planner {

class GraspWM
{
public:
  int grasp_id_;
  int model_id_;
  double energy_function_score;
  object_manipulation_msgs::Grasp grasp_;
  tf::Stamped<tf::Pose> object_pose_;
  tf::Stamped<tf::Pose> tool_point_pose_;
  double success_probability;
  std::vector< std::vector<double> > success_cond_probs;  //conditional probabilities for successful grasps
  std::vector< std::vector<double> > failure_cond_probs;  //and failed grasps (one vector for each object rep)

  GraspWM() : success_probability(0.0) {}

  void getDistance(const GraspWM &other, double &cartesian_dist, double &rotation_dist, bool debug=false) const
  {
    tf::Vector3 gstar_position = tool_point_pose_.getOrigin();
    tf::Quaternion gstar_orientation = tool_point_pose_.getRotation();

    tf::Vector3 grasp_position = other.tool_point_pose_.getOrigin();
    tf::Quaternion grasp_orientation = other.tool_point_pose_.getRotation();

    if (debug) ROS_INFO("grasp: %f %f %f; other: %f %f %f", 
                        gstar_position.x(),gstar_position.y(),gstar_position.z(),
                        grasp_position.x(),grasp_position.y(),grasp_position.z());

    tf::Vector3 delta_position = gstar_position - grasp_position;
    cartesian_dist = delta_position.length();

    rotation_dist = gstar_orientation.angleShortestPath(grasp_orientation);
  }

  object_manipulation_msgs::Grasp getGrasp()
  {
        return grasp_;
  }
};

inline bool operator< (const GraspWM &g1, const GraspWM &g2)
{
  return g1.grasp_.success_probability < g2.grasp_.success_probability;
}


//pretty-print a std::vector<double>
inline void pplist(const std::vector<double> &list)
{
  for (size_t ind = 0; ind < list.size(); ind++)
  {
        printf("%.3f ", list[ind]);
  }
  printf("\n");
}


template <class svcType>
inline ros::ServiceClient register_service(ros::NodeHandle &nh, const std::string &service_name)
{
  while (!ros::service::waitForService(service_name, ros::Duration(2.0)) && nh.ok())
  {
    ROS_INFO("Waiting for %s service to come up", service_name.c_str());
  }
  if (!nh.ok()) exit(0);
  return nh.serviceClient<svcType>(service_name, true);
}



template <class ServiceDataType>
class ServiceWrapper
{
 private:
  bool initialized_;
  std::string service_name_;
  ros::NodeHandle nh_;
  ros::ServiceClient client_;
 public:
 ServiceWrapper(std::string service_name) : initialized_(false), 
    service_name_(service_name),
    nh_("")
    {}
  
  ros::ServiceClient& client() 
  {
    if (!initialized_)
    {
      while ( !ros::service::waitForService(service_name_, ros::Duration(2.0)) && nh_.ok() )
      {
        ROS_INFO_STREAM("Waiting for service: " << service_name_);
      }
      if (!nh_.ok()) exit(0);
      client_ = nh_.serviceClient<ServiceDataType>(service_name_);      
      initialized_ = true;
    }
    return client_;
  }
};



} //namespace

#endif