database_perturbation.h

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#ifndef _DATABASE_GRASP_ANALYSIS_H_
#define _DATABASE_GRASP_ANALYSIS_H_

#include <vector>

#include <database_interface/db_class.h>

namespace household_objects_database {

class DatabasePerturbation : public database_interface::DBClass
{
 private:
  const std::string table_name_;
 public:
  database_interface::DBField<int> perturbation_id_;

  database_interface::DBField<int> grasp_id_;

  database_interface::DBField<int> energy_function_id_;

  database_interface::DBField<std::vector<double> > deltas_;

  database_interface::DBField<double> score_;

  database_interface::DBField<DatabasePose> final_pose_;
  DatabasePerturbation() :
    table_name_("grasp_analysis"),
   perturbation_id_(database_interface::DBFieldBase::TEXT, this, "perturbation_id", table_name_, true),
   grasp_id_(database_interface::DBFieldBase::TEXT, this, "grasp_id", table_name_, true),
   energy_function_id_(database_interface::DBFieldBase::TEXT, this, "energy_function_id", table_name_, true),
   deltas_(database_interface::DBFieldBase::TEXT, this, "deltas", table_name_, true),
   score_(database_interface::DBFieldBase::TEXT, this, "score", table_name_, true),
   final_pose_(database_interface::DBFieldBase::TEXT, this, "final_position", table_name_, true)
  {
    //primary key field
    primary_key_field_ = &perturbation_id_;

    //all the other fields
    fields_.push_back(&grasp_id_);
    fields_.push_back(&energy_function_id_);
    fields_.push_back(&deltas_);
    fields_.push_back(&score_);
    fields_.push_back(&final_pose_);
    //by default, all fields here are used, and many of then not-null, so sync both ways
    setAllFieldsReadFromDatabase(true);
    setAllFieldsWriteToDatabase(true);

    //sequences
    perturbation_id_.setSequenceName("grasp_analysis_perturbation_id_seq");

    //primary key only syncs from database; it has a sequence which is used by default on insertions
    perturbation_id_.setWriteToDatabase(false);
  }

  ~DatabasePerturbation(){}
};

typedef boost::shared_ptr<DatabasePerturbation> DatabasePerturbationPtr;

} //namespace

#endif