household_objects_database: database_object

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00034 
00035 // Author(s): Mehmet Dogar (mdogar@cs.cmu.edu)
00036 
00037 #ifndef _DATABASE_OBJECT_PATHS_H_
00038 #define _DATABASE_OBJECT_PATHS_H_
00039 
00040 #include <iostream>
00041 
00042 #include <geometry_msgs/Pose.h>
00043 
00044 #include <database_interface/db_class.h>
00045 
00046 #include <boost/shared_ptr.hpp>
00047 
00048 #include "household_objects_database/database_helper_classes.h"
00049 
00050 namespace household_objects_database {
00051 
00053 class DatabaseObjectPaths : public database_interface::DBClass
00054 {
00055  private:
00056 
00057  public:
00059   database_interface::DBField<int> id_;
00060 
00062   database_interface::DBField<int> scaled_model_id_;
00063 
00064   database_interface::DBField<int> object_db_id_;
00065 
00067   database_interface::DBField<std::string> object_description_;
00069   database_interface::DBField<std::string> object_geometry_hash_;
00071   database_interface::DBField<std::string> robot_geometry_hash_;
00072 
00074   database_interface::DBField<double> hand_object_coefficient_of_friction_;
00076   database_interface::DBField<double> pushing_distance_;
00078   database_interface::DBField<double> in_hand_distance_;
00079 
00081   database_interface::DBField<double> y_resolution_;
00083   database_interface::DBField<double> start_y_offset_;
00085   database_interface::DBField<int> n_y_steps_;
00086 
00088   database_interface::DBField<double> rotation_resolution_;
00090   database_interface::DBField<int> n_rotations_;
00091 
00093   database_interface::DBField< std::vector< std::vector< std::vector< std::vector< int > > > > > motion_types_;
00094 
00096   database_interface::DBField< std::vector< std::vector< std::vector< std::vector< DatabasePose > > > > > poses_;
00097 
00099   database_interface::DBField< std::vector< std::vector< std::vector< int > > > > path_lengths_;
00100 
00101 
00103   database_interface::DBField<double> radius_of_cylinder_bounding_the_object_;
00105   database_interface::DBField<DatabasePose> object_pushing_frame_in_object_frame_;
00106 
00108   database_interface::DBField<double> fingertip_frame_to_pushing_surface_distance_;
00110   database_interface::DBField<double> finger_width_;
00111 
00113   database_interface::DBField<double> aperture_width_; 
00114 
00116   database_interface::DBField<double> min_pressure_distribution_scale_;
00118   database_interface::DBField<double> max_pressure_distribution_scale_;
00120   database_interface::DBField<double> pressure_distribution_scale_resolution_;
00122   database_interface::DBField<int> n_pressure_distributions_;
00123 
00125   database_interface::DBField<double> path_storage_resolution_;
00126 
00127 
00129   DatabaseObjectPaths() :
00130     id_(database_interface::DBFieldBase::TEXT, this, "object_paths_id", "object_paths", true),
00131     scaled_model_id_(database_interface::DBFieldBase::TEXT, this, "scaled_model_id", "object_paths", true),
00132     object_db_id_(database_interface::DBFieldBase::TEXT, this, "object_db_id", "object_paths", true),
00133     object_description_(database_interface::DBFieldBase::TEXT, this, "object_description", "object_paths", true),
00134     object_geometry_hash_(database_interface::DBFieldBase::TEXT, this, "object_geometry_hash", "object_paths", true),
00135     robot_geometry_hash_(database_interface::DBFieldBase::TEXT, this, "robot_geometry_hash", "object_paths", true),
00136     hand_object_coefficient_of_friction_(database_interface::DBFieldBase::TEXT, this, "hand_object_coefficient_of_friction", "object_paths", true),
00137     pushing_distance_(database_interface::DBFieldBase::TEXT, this, "pushing_distance", "object_paths", true),
00138     in_hand_distance_(database_interface::DBFieldBase::TEXT, this, "in_hand_distance", "object_paths", true),
00139     y_resolution_(database_interface::DBFieldBase::TEXT, this, "y_resolution", "object_paths", true),
00140     start_y_offset_(database_interface::DBFieldBase::TEXT, this, "start_y_offset", "object_paths", true),
00141     n_y_steps_(database_interface::DBFieldBase::TEXT, this, "n_y_steps", "object_paths", true),
00142     rotation_resolution_(database_interface::DBFieldBase::TEXT, this, "rotation_resolution", "object_paths", true),
00143     n_rotations_(database_interface::DBFieldBase::TEXT, this, "n_rotations", "object_paths", true),
00144     motion_types_(database_interface::DBFieldBase::TEXT, this, "motion_types", "object_paths", true),
00145     poses_(database_interface::DBFieldBase::TEXT, this, "poses", "object_paths", true),
00146     path_lengths_(database_interface::DBFieldBase::TEXT, this, "path_lengths", "object_paths", true),
00147     radius_of_cylinder_bounding_the_object_(database_interface::DBFieldBase::TEXT, this, "radius_of_cylinder_bounding_the_object", "object_paths", true),
00148     object_pushing_frame_in_object_frame_(database_interface::DBFieldBase::TEXT, this, "object_pushing_frame_in_object_frame", "object_paths", true),
00149     fingertip_frame_to_pushing_surface_distance_(database_interface::DBFieldBase::TEXT, this, "fingertip_frame_to_pushing_surface_distance", "object_paths", true),
00150     finger_width_(database_interface::DBFieldBase::TEXT, this, "finger_width", "object_paths", true),
00151     aperture_width_(database_interface::DBFieldBase::TEXT, this, "aperture_width", "object_paths", true),
00152     min_pressure_distribution_scale_(database_interface::DBFieldBase::TEXT, this, "min_pressure_distribution_scale", "object_paths", true),
00153     max_pressure_distribution_scale_(database_interface::DBFieldBase::TEXT, this, "max_pressure_distribution_scale", "object_paths", true),
00154     pressure_distribution_scale_resolution_(database_interface::DBFieldBase::TEXT, this, "pressure_distribution_scale_resolution", "object_paths", true),
00155     n_pressure_distributions_(database_interface::DBFieldBase::TEXT, this, "n_pressure_distributions", "object_paths", true),
00156     path_storage_resolution_(database_interface::DBFieldBase::TEXT, this, "path_storage_resolution", "object_paths", true)
00157   {
00158     //primary key field
00159     primary_key_field_ = &id_;
00160     //all the other fields
00161     fields_.push_back(&scaled_model_id_);
00162     fields_.push_back(&object_db_id_);
00163     fields_.push_back(&object_description_);
00164     fields_.push_back(&object_geometry_hash_);
00165     fields_.push_back(&robot_geometry_hash_);
00166     fields_.push_back(&hand_object_coefficient_of_friction_);
00167     fields_.push_back(&pushing_distance_);
00168     fields_.push_back(&in_hand_distance_);
00169     fields_.push_back(&y_resolution_);
00170     fields_.push_back(&start_y_offset_);
00171     fields_.push_back(&n_y_steps_);
00172     fields_.push_back(&rotation_resolution_);
00173     fields_.push_back(&n_rotations_);
00174     fields_.push_back(&motion_types_);
00175     fields_.push_back(&poses_);
00176     fields_.push_back(&path_lengths_);
00177     fields_.push_back(&radius_of_cylinder_bounding_the_object_);
00178     fields_.push_back(&object_pushing_frame_in_object_frame_);
00179     fields_.push_back(&fingertip_frame_to_pushing_surface_distance_);
00180     fields_.push_back(&finger_width_);
00181     fields_.push_back(&aperture_width_);
00182     fields_.push_back(&min_pressure_distribution_scale_);
00183     fields_.push_back(&max_pressure_distribution_scale_);
00184     fields_.push_back(&pressure_distribution_scale_resolution_);
00185     fields_.push_back(&n_pressure_distributions_);
00186     fields_.push_back(&path_storage_resolution_);
00187 
00188     //sequences
00189     id_.setSequenceName("object_paths_id_seq");
00190 
00191     //by default, all fields here are used, and many of then not-null, so sync both ways
00192     setAllFieldsReadFromDatabase(true);
00193     setAllFieldsWriteToDatabase(true);
00194     //primary key id_ only syncs from database; it has a sequence which is used by default on insertions
00195     id_.setWriteToDatabase(false);
00196   }
00197 
00199   ~DatabaseObjectPaths(){}
00200 };
00201 
00202 typedef boost::shared_ptr<DatabaseObjectPaths> DatabaseObjectPathsPtr;
00203 
00204 } //namespace
00205 
00206 #endif