grasp_generator.h

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#ifndef GRASP_GENERATOR_H
#define GRASP_GENERATOR_H

#include <boost/shared_ptr.hpp>

#include <ros/ros.h>

#include <object_manipulation_msgs/GraspableObject.h>
#include <object_manipulation_msgs/Grasp.h>
#include <household_objects_database_msgs/DatabaseModelPose.h>
#include <household_objects_database/objects_database.h>
#include "household_objects_database/database_grasp.h"
#include "household_objects_database/database_perturbation.h"
#include "bayesian_grasp_planner/bayesian_grasp_planner_tools.h"

namespace bayesian_grasp_planner {

class GraspGenerator
{
protected:
  std::vector<GraspWM> grasps_;
 
public:
  virtual void generateGrasps() = 0;

  const std::vector<GraspWM> & getGrasps() {return grasps_;}

  void getGrasps(std::vector<GraspWM> &grasps)
  {
    grasps.insert( grasps.end(), grasps_.begin(), grasps_.end());
  }

};

class GraspGeneratorServiceCaller : public GraspGenerator
{
private:
  ros::ServiceClient service_;
  const object_manipulation_msgs::GraspableObject object_;
  const std::string arm_name_;
  const std::string service_name_;

  void appendMetadataToGrasps(std::vector<object_manipulation_msgs::Grasp> &grasp_msgs,
                              std::vector<GraspWM> &grasps);

public:
  GraspGeneratorServiceCaller(ros::NodeHandle &nh, const std::string service_name, 
                              const object_manipulation_msgs::GraspableObject &graspable_object,
                              const std::string arm_name);

  void generateGrasps();
};

class GraspGeneratorDatabaseRetriever : public GraspGenerator
{
private:
  boost::shared_ptr<household_objects_database::ObjectsDatabase> database_;
  household_objects_database_msgs::DatabaseModelPose model_;
  const std::string arm_name_;

  void appendMetadataToGrasps(const std::vector<household_objects_database::DatabaseGraspPtr> &db_grasps,
                       std::vector<GraspWM> &grasps);

  bool cluster_reps_;

public:
  GraspGeneratorDatabaseRetriever(boost::shared_ptr<household_objects_database::ObjectsDatabase> database,
                                  household_objects_database_msgs::DatabaseModelPose model, const std::string arm_name,
                                  bool cluster_reps);

  void generateGrasps();
};


}


#endif