Public Member Functions
household_objects_database::ObjectsDatabase Class Reference

A slight specialization of the general database interface with a few convenience functions added. More...

#include <objects_database.h>

Inheritance diagram for household_objects_database::ObjectsDatabase:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual bool acquireNextTask (std::vector< boost::shared_ptr< DatabaseTask > > &task, std::vector< std::string > accepted_types)
 Acquires the next experiment to be executed from the list of tasks in the database.
bool getAllPerturbationsForModel (int scaled_model_id, std::vector< DatabasePerturbationPtr > &perturbations)
 Gets the perturbations for all grasps for a given scaled model.
bool getCaptureRegions (int scaled_model_id, std::string robot_geometry_hash, std::vector< boost::shared_ptr< DatabaseCaptureRegion > > &capture_regions) const
 Gets the list of all capture regions for an object and hand pair.
bool getClusterRepGrasps (int scaled_model_id, std::string hand_name, std::vector< boost::shared_ptr< DatabaseGrasp > > &grasps) const
 Gets the list of only those grasps that are cluster reps a database model.
bool getGrasps (int scaled_model_id, std::string hand_name, std::vector< boost::shared_ptr< DatabaseGrasp > > &grasps) const
 Gets the list of all the grasps for a scaled model id.
bool getModelPathFromViewId (boost::shared_ptr< DatabaseView > &view, std::string &path)
bool getModelRoot (std::string &root) const
 Returns the path that geometry paths are relative to.
bool getModelScale (boost::shared_ptr< DatabaseView > &view, double *scale_factor)
bool getModelScaleFromId (int scaled_model_id, boost::shared_ptr< DatabaseScaledModel > &scale_model)
bool getModelScans (int scaled_model_id, std::string source, std::vector< household_objects_database_msgs::DatabaseScan > &matching_scan_list) const
bool getModelsListByTags (std::vector< boost::shared_ptr< DatabaseOriginalModel > > &models, std::vector< std::string > tags) const
 Gets a list of all models with the requested tags in the database.
bool getNumOriginalModels (int &num_models) const
 Returns the number of original models in the database.
bool getObjectPaths (int scaled_model_id, std::string robot_geometry_hash, std::vector< boost::shared_ptr< DatabaseObjectPaths > > &object_paths) const
 Gets the list of all object paths for an object and hand pair.
bool getOrientationRollFromVFHId (int vfh_id, boost::shared_ptr< DatabaseVFHOrientation > &roll_histogram)
bool getOrientationRollFromVFHThroughViewId (int vfh_id, boost::shared_ptr< DatabaseVFHOrientation > &roll_histogram)
bool getOriginalModelsList (std::vector< boost::shared_ptr< DatabaseOriginalModel > > &models) const
 Gets a list of all the original models in the database.
bool getPerturbationsForGrasps (const std::vector< int > &grasp_ids, std::vector< DatabasePerturbationPtr > &perturbations)
bool getScaledModelMesh (int scaled_model_id, DatabaseMesh &mesh) const
 Gets the mesh for a scaled model.
bool getScaledModelMesh (int scaled_model_id, shape_msgs::Mesh &ros_mesh) const
 Gets the mesh for a scaled model as a arm_navigation_msgs::Shape.
bool getScaledModelsByAcquisition (std::vector< boost::shared_ptr< DatabaseScaledModel > > &models, std::string acquisition_method) const
 Gets a list of scaled models based on acquisition method.
bool getScaledModelsByRecognitionId (std::vector< boost::shared_ptr< DatabaseScaledModel > > &models, std::string recognition_id) const
virtual bool getScaledModelsBySet (std::vector< boost::shared_ptr< DatabaseScaledModel > > &models, std::string model_set_name) const
bool getScaledModelsList (std::vector< boost::shared_ptr< DatabaseScaledModel > > &models) const
 Gets a list of all the scaled models in the database.
bool getVFHDescriptors (std::vector< boost::shared_ptr< DatabaseVFH > > &vfh)
bool getVFHFromView (boost::shared_ptr< DatabaseVFH > &vfh, boost::shared_ptr< household_objects_database::DatabaseView > &view)
bool getViewFromVFHId (int vfh_id, boost::shared_ptr< DatabaseView > &view)
bool getViewFromVFHIdNoData (int vfh_id, boost::shared_ptr< DatabaseView > &view)
bool getViewFromViewIdNoData (int view_id, boost::shared_ptr< DatabaseView > &view)
bool getViewsFromScaledModelId (int scaled_model_id, int iteration, std::vector< boost::shared_ptr< DatabaseView > > &views)
 ObjectsDatabase (std::string host, std::string port, std::string user, std::string password, std::string dbname)
 Attempts to connect to the specified database.
 ObjectsDatabase (const database_interface::PostgresqlDatabaseConfig &config)
 Attempts to connect to the specified database.
 ~ObjectsDatabase ()
 Just a stub for now.

Detailed Description

A slight specialization of the general database interface with a few convenience functions added.

Definition at line 75 of file objects_database.h.


Constructor & Destructor Documentation

household_objects_database::ObjectsDatabase::ObjectsDatabase ( std::string  host,
std::string  port,
std::string  user,
std::string  password,
std::string  dbname 
) [inline]

Attempts to connect to the specified database.

Definition at line 79 of file objects_database.h.

Attempts to connect to the specified database.

Definition at line 85 of file objects_database.h.

Just a stub for now.

Definition at line 91 of file objects_database.h.


Member Function Documentation

bool household_objects_database::ObjectsDatabase::acquireNextTask ( std::vector< boost::shared_ptr< DatabaseTask > > &  task,
std::vector< std::string >  accepted_types 
) [virtual]

Acquires the next experiment to be executed from the list of tasks in the database.

If accepted_types is not empty, it will only get tasks of one of that types. If it's empty, it will get any task. Also marks any task it gets as RUNNING in an atomic fashion, so that it is not acquired by another process.

Definition at line 47 of file objects_database.cpp.

bool household_objects_database::ObjectsDatabase::getAllPerturbationsForModel ( int  scaled_model_id,
std::vector< DatabasePerturbationPtr > &  perturbations 
) [inline]

Gets the perturbations for all grasps for a given scaled model.

These two functions use the ANY(ARRAY[ids]) syntax because those were the most performant in speed tests.

Definition at line 307 of file objects_database.h.

bool household_objects_database::ObjectsDatabase::getCaptureRegions ( int  scaled_model_id,
std::string  robot_geometry_hash,
std::vector< boost::shared_ptr< DatabaseCaptureRegion > > &  capture_regions 
) const [inline]

Gets the list of all capture regions for an object and hand pair.

Definition at line 545 of file objects_database.h.

bool household_objects_database::ObjectsDatabase::getClusterRepGrasps ( int  scaled_model_id,
std::string  hand_name,
std::vector< boost::shared_ptr< DatabaseGrasp > > &  grasps 
) const [inline]

Gets the list of only those grasps that are cluster reps a database model.

Definition at line 202 of file objects_database.h.

bool household_objects_database::ObjectsDatabase::getGrasps ( int  scaled_model_id,
std::string  hand_name,
std::vector< boost::shared_ptr< DatabaseGrasp > > &  grasps 
) const [inline]

Gets the list of all the grasps for a scaled model id.

Definition at line 191 of file objects_database.h.

bool household_objects_database::ObjectsDatabase::getModelPathFromViewId ( boost::shared_ptr< DatabaseView > &  view,
std::string &  path 
) [inline]

Definition at line 504 of file objects_database.h.

bool household_objects_database::ObjectsDatabase::getModelRoot ( std::string &  root) const [inline]

Returns the path that geometry paths are relative to.

Definition at line 167 of file objects_database.h.

bool household_objects_database::ObjectsDatabase::getModelScale ( boost::shared_ptr< DatabaseView > &  view,
double *  scale_factor 
) [inline]

Definition at line 522 of file objects_database.h.

bool household_objects_database::ObjectsDatabase::getModelScaleFromId ( int  scaled_model_id,
boost::shared_ptr< DatabaseScaledModel > &  scale_model 
) [inline]

Definition at line 490 of file objects_database.h.

bool household_objects_database::ObjectsDatabase::getModelScans ( int  scaled_model_id,
std::string  source,
std::vector< household_objects_database_msgs::DatabaseScan > &  matching_scan_list 
) const [inline]

Definition at line 276 of file objects_database.h.

bool household_objects_database::ObjectsDatabase::getModelsListByTags ( std::vector< boost::shared_ptr< DatabaseOriginalModel > > &  models,
std::vector< std::string >  tags 
) const [inline]

Gets a list of all models with the requested tags in the database.

Definition at line 174 of file objects_database.h.

bool household_objects_database::ObjectsDatabase::getNumOriginalModels ( int &  num_models) const [inline]

Returns the number of original models in the database.

Definition at line 147 of file objects_database.h.

bool household_objects_database::ObjectsDatabase::getObjectPaths ( int  scaled_model_id,
std::string  robot_geometry_hash,
std::vector< boost::shared_ptr< DatabaseObjectPaths > > &  object_paths 
) const [inline]

Gets the list of all object paths for an object and hand pair.

Definition at line 556 of file objects_database.h.

bool household_objects_database::ObjectsDatabase::getOrientationRollFromVFHId ( int  vfh_id,
boost::shared_ptr< DatabaseVFHOrientation > &  roll_histogram 
) [inline]

Definition at line 421 of file objects_database.h.

bool household_objects_database::ObjectsDatabase::getOrientationRollFromVFHThroughViewId ( int  vfh_id,
boost::shared_ptr< DatabaseVFHOrientation > &  roll_histogram 
) [inline]

Definition at line 459 of file objects_database.h.

bool household_objects_database::ObjectsDatabase::getOriginalModelsList ( std::vector< boost::shared_ptr< DatabaseOriginalModel > > &  models) const [inline]

Gets a list of all the original models in the database.

Definition at line 107 of file objects_database.h.

bool household_objects_database::ObjectsDatabase::getPerturbationsForGrasps ( const std::vector< int > &  grasp_ids,
std::vector< DatabasePerturbationPtr > &  perturbations 
) [inline]

Definition at line 316 of file objects_database.h.

bool household_objects_database::ObjectsDatabase::getScaledModelMesh ( int  scaled_model_id,
DatabaseMesh mesh 
) const [inline]

Gets the mesh for a scaled model.

Definition at line 215 of file objects_database.h.

bool household_objects_database::ObjectsDatabase::getScaledModelMesh ( int  scaled_model_id,
shape_msgs::Mesh &  ros_mesh 
) const [inline]

Gets the mesh for a scaled model as a arm_navigation_msgs::Shape.

Definition at line 237 of file objects_database.h.

bool household_objects_database::ObjectsDatabase::getScaledModelsByAcquisition ( std::vector< boost::shared_ptr< DatabaseScaledModel > > &  models,
std::string  acquisition_method 
) const [inline]

Gets a list of scaled models based on acquisition method.

Definition at line 123 of file objects_database.h.

bool household_objects_database::ObjectsDatabase::getScaledModelsByRecognitionId ( std::vector< boost::shared_ptr< DatabaseScaledModel > > &  models,
std::string  recognition_id 
) const [inline]

Definition at line 154 of file objects_database.h.

virtual bool household_objects_database::ObjectsDatabase::getScaledModelsBySet ( std::vector< boost::shared_ptr< DatabaseScaledModel > > &  models,
std::string  model_set_name 
) const [inline, virtual]

Definition at line 134 of file objects_database.h.

bool household_objects_database::ObjectsDatabase::getScaledModelsList ( std::vector< boost::shared_ptr< DatabaseScaledModel > > &  models) const [inline]

Gets a list of all the scaled models in the database.

Definition at line 115 of file objects_database.h.

bool household_objects_database::ObjectsDatabase::getVFHDescriptors ( std::vector< boost::shared_ptr< DatabaseVFH > > &  vfh) [inline]

Definition at line 331 of file objects_database.h.

bool household_objects_database::ObjectsDatabase::getVFHFromView ( boost::shared_ptr< DatabaseVFH > &  vfh,
boost::shared_ptr< household_objects_database::DatabaseView > &  view 
) [inline]

Definition at line 402 of file objects_database.h.

bool household_objects_database::ObjectsDatabase::getViewFromVFHId ( int  vfh_id,
boost::shared_ptr< DatabaseView > &  view 
) [inline]

Definition at line 359 of file objects_database.h.

bool household_objects_database::ObjectsDatabase::getViewFromVFHIdNoData ( int  vfh_id,
boost::shared_ptr< DatabaseView > &  view 
) [inline]

Definition at line 382 of file objects_database.h.

bool household_objects_database::ObjectsDatabase::getViewFromViewIdNoData ( int  view_id,
boost::shared_ptr< DatabaseView > &  view 
) [inline]

Definition at line 347 of file objects_database.h.

bool household_objects_database::ObjectsDatabase::getViewsFromScaledModelId ( int  scaled_model_id,
int  iteration,
std::vector< boost::shared_ptr< DatabaseView > > &  views 
) [inline]

Definition at line 531 of file objects_database.h.


The documentation for this class was generated from the following files:


household_objects_database
Author(s): Matei Ciocarlie, except for source files individually marked otherwise
autogenerated on Thu Aug 27 2015 13:24:24