The main grasp database client. More...

#include <Client.h>

Public Member Functions
bool	addGrasp (Grasp &graps) const
	Add a grasp to the database.
bool	addGraspDemonstration (GraspDemonstration &gd) const
	Add a grasp demonstration to the database.
bool	addGraspModel (GraspModel &gm) const
	Add a grasp model and its associated grasps to the database.
	Client (const Client &c)
	Create a new Client.
	Client (const std::string &host, const uint16_t port, const std::string &user, const std::string &password, const std::string &db)
	Create a new Client.
bool	connect ()
	Create a connection to the database.
bool	connected () const
	Check if there is a connection to the database.
void	deleteGrasp (uint32_t id) const
	Delete a grasp from the database.
void	deleteGraspDemonstration (uint32_t id) const
	Delete a grasp demonstration from the database.
void	deleteGraspModel (uint32_t id) const
	Delete a grasp model from the database.
void	disconnect ()
	Closes a connection to the database.
const std::string &	getDatabase () const
	Database value accessor.
const std::string &	getHost () const
	Host value accessor.
const std::string &	getPassword () const
	Password value accessor.
uint16_t	getPort () const
	Port value accessor.
bool	getUniqueGraspDemonstrationObjectNames (std::vector< std::string > &names) const
	Load the unique demonstration object names from the database.
bool	getUniqueGraspModelObjectNames (std::vector< std::string > &names) const
	Load the unique grasp model object names from the database.
const std::string &	getUser () const
	User value accessor.
bool	loadGrasp (uint32_t id, Grasp &grasp) const
	Load a grasp from the database.
bool	loadGraspByGraspModelID (const uint32_t grasp_model_id, std::vector< Grasp > &grasps) const
	Load grasps from the database from an associated model ID.
bool	loadGraspDemonstration (uint32_t id, GraspDemonstration &gd) const
	Load a grasp demonstration from the database.
bool	loadGraspDemonstrations (std::vector< GraspDemonstration > &gds) const
	Load all grasp demonstrations from the database.
bool	loadGraspDemonstrationsByObjectName (const std::string &object_name, std::vector< GraspDemonstration > &gds) const
	Load grasp demonstrations from the database from an object name.
bool	loadGraspModel (uint32_t id, GraspModel &gm) const
	Load a grasp model from the database.
bool	loadGraspModels (std::vector< GraspModel > &gms) const
	Load all grasp models from the database.
bool	loadGraspModelsByObjectName (const std::string &object_name, std::vector< GraspModel > &gms) const
	Load grasp models from the database from an object name.
virtual	~Client ()
	Cleans up a Client.
Static Public Attributes
static const unsigned int	DEFAULT_PORT = 5432
Private Member Functions
void	checkAPIVersion () const
	Check for a supported version of the libpqxx API.
void	createTables () const
	Creates tables and types.
bool	doesTypeExist (const std::string &type) const
	Check if a composite type exists in the database.
std::vector< double >	extractArrayFromString (std::string &array) const
	Extract array values from a string array with vector creation.
GraspDemonstration	extractGraspDemonstrationFromTuple (const pqxx::result::tuple &tuple) const
	Extract grasp demonstration information from the SQL result tuple.
Grasp	extractGraspFromTuple (const pqxx::result::tuple &tuple) const
	Extract grasp information from the SQL result tuple.
GraspModel	extractGraspModelFromTuple (const pqxx::result::tuple &tuple) const
	Extract grasp model information from the SQL result tuple.
sensor_msgs::Image	extractImageFromBinaryString (const pqxx::binarystring &bs) const
	Extract Image values from a binary string.
sensor_msgs::PointCloud2	extractPointCloud2FromBinaryString (const pqxx::binarystring &bs) const
	Extract PointCloud2 values from a binary string.
time_t	extractTimeFromString (const std::string &str) const
	Extract a time from a timestamp.
bool	getStringArrayFromPrepared (const std::string &prepared_name, const std::string &column_name, std::vector< std::string > &strings) const
	Extract a string column from the database.
std::string	toSQL (const Pose &p) const
	Convert a Pose to a PostgreSQL object string.
std::string	toSQL (const Position &p) const
	Convert a Position to a PostgreSQL object string.
std::string	toSQL (const Orientation &o) const
	Convert an Orientation to a PostgreSQL object string.
Private Attributes
pqxx::connection *	connection_
std::string	db_
std::string	host_
std::string	password_
uint16_t	port_
std::string	user_

Detailed Description

The main grasp database client.

The graspdb client can communicate with a PostgreSQL database.

Definition at line 40 of file Client.h.

Constructor & Destructor Documentation

Client::Client ( const Client & c )

Create a new Client.

Creates a new Client by copying the values from the given Client. A new connection is made if one exists.

Parameters:

gd	The Client to copy.

Definition at line 20 of file Client.cpp.

rail::pick_and_place::graspdb::Client::Client	(	const std::string &	host,
		const uint16_t	port,
		const std::string &	user,
		const std::string &	password,
		const std::string &	db
	)

Create a new Client.

Creates a new Client with the given connection information. A connection is not made by default.

Parameters:

host	The host IP of the database.
port	The host port of the database.
user	The user of the database.
password	The password for the user of the database.
db	The database name.

Client::~Client ( ) [virtual]

Cleans up a Client.

Cleans up any connections used by the Client.

Definition at line 46 of file Client.cpp.

Member Function Documentation

bool Client::addGrasp ( Grasp & graps ) const

Add a grasp to the database.

Stores the given grasp data to the database. If the entity was successfully added, the ID and created fields of the Grasp are set accordingly.

Parameters:

g	The Grasp with the data to store.

Returns:: Returns true if the entity was added to the database.

Definition at line 441 of file Client.cpp.

bool Client::addGraspDemonstration ( GraspDemonstration & gd ) const

Add a grasp demonstration to the database.

Stores the given grasp demonstration data to the database. If the grasp was successfully added, the ID and created fields of the GraspDemonstration are set accordingly.

Parameters:

gd	The GraspDemonstration with the data to store.

Returns:: True if the grasp was successfully added.

Definition at line 560 of file Client.cpp.

bool Client::addGraspModel ( GraspModel & gm ) const

Add a grasp model and its associated grasps to the database.

Stores the given grasp model data and its associated grasps to the database. If the entity was successfully added, the ID and created fields of the GraspModel are set accordingly.

Parameters:

gm	The GraspModel with the data to store.

Returns:: Returns true if the entity was added to the database.

Definition at line 554 of file Client.cpp.

void Client::checkAPIVersion ( ) const [private]

Check for a supported version of the libpqxx API.

Checks for a valid version of the libpqxx API (4.0.0 or greater). If one is not found an error message is printed to ROS_WARN. If a valid version is found during compile time, this function has no effect.

Definition at line 52 of file Client.cpp.

bool Client::connect ( )

Create a connection to the database.

Attempts to create a connection to the grasp database. A flag is returned to indicate the success.

Returns:: True if a connection has been sucessfully made.

Definition at line 90 of file Client.cpp.

bool Client::connected ( ) const

Check if there is a connection to the database.

A boolean check to see if a connection exists to the grasp database.

Returns:: True if a connection has been made.

Definition at line 85 of file Client.cpp.

void Client::createTables ( ) const [private]

Creates tables and types.

Creates the initial table and composite type schemas needed for the database. If these already exist, no action is taken.

Definition at line 174 of file Client.cpp.

void Client::deleteGrasp ( uint32_t id ) const

Delete a grasp from the database.

Deletes the grasp from the database with the given ID.

Parameters:

id	The ID of the grasp to delete.

Definition at line 568 of file Client.cpp.

void Client::deleteGraspDemonstration ( uint32_t id ) const

Delete a grasp demonstration from the database.

Deletes the grasp demonstration from the database with the given ID.

Parameters:

id	The ID of the grasp demonstration to delete.

Definition at line 576 of file Client.cpp.

void Client::deleteGraspModel ( uint32_t id ) const

Delete a grasp model from the database.

Deletes the grasp model from the database with the given ID. All associated grasps are also deleted.

Parameters:

id	The ID of the grasp model to delete.

Definition at line 584 of file Client.cpp.

void Client::disconnect ( )

Closes a connection to the database.

Attempts to close a connection to the grasp database. No effect is seen if there is no current connection.

Definition at line 160 of file Client.cpp.

bool Client::doesTypeExist ( const std::string & type ) const [private]

Check if a composite type exists in the database.

Makes an SQL call to the database to check if a composite type of the given name exists.

Parameters:

type	The name of the type to check for.

Returns:: True if the type composite exists in the database.

Definition at line 228 of file Client.cpp.

vector< double > Client::extractArrayFromString ( std::string & array ) const [private]

Extract array values from a string array with vector creation.

Extracts double values from the given PostgreSQL array string (e.g., "{1,2,3}") and places them in a new vector.

Parameters:

array The array string representation of the array.

Returns:: The vector to populated with values from the string.

Definition at line 702 of file Client.cpp.

GraspDemonstration Client::extractGraspDemonstrationFromTuple ( const pqxx::result::tuple & tuple ) const [private]

Extract grasp demonstration information from the SQL result tuple.

Extracts values from the given SQL result tuple and places them in a new GraspDemonstration object.

Parameters:

result The SQL result tuple containing the correct values.

Returns:: The GraspDemonstration populated with values from the SQL result tuple.

Definition at line 592 of file Client.cpp.

Grasp Client::extractGraspFromTuple ( const pqxx::result::tuple & tuple ) const [private]

Extract grasp information from the SQL result tuple.

Extracts values from the given SQL result tuple and places them in a new Grasp object.

Parameters:

result The SQL result tuple containing the correct values.

Returns:: The Grasp populated with values from the SQL result tuple.

Definition at line 634 of file Client.cpp.

GraspModel Client::extractGraspModelFromTuple ( const pqxx::result::tuple & tuple ) const [private]

Extract grasp model information from the SQL result tuple.

Extracts values from the given SQL result tuple and places them in a new GraspModel object.

Parameters:

result The SQL result tuple containing the correct values.

Returns:: The GraspModel populated with values from the SQL result tuple.

Definition at line 664 of file Client.cpp.

sensor_msgs::Image Client::extractImageFromBinaryString ( const pqxx::binarystring & bs ) const [private]

Extract Image values from a binary string.

Extracts Image values from the given PostgreSQL binary string and places them in a new ROS Image message.

Parameters:

bs	The binary string representation of the serialized Image.

Returns:: The Image with values from the binary string.

Definition at line 693 of file Client.cpp.

sensor_msgs::PointCloud2 Client::extractPointCloud2FromBinaryString ( const pqxx::binarystring & bs ) const [private]

Extract PointCloud2 values from a binary string.

Extracts PointCloud2 values from the given PostgreSQL binary string and places them in a new ROS PointCloud2 message.

Parameters:

bs	The binary string representation of the serialized PointCloud2.

Returns:: The PointCloud2 with values from the binary string.

Definition at line 684 of file Client.cpp.

time_t Client::extractTimeFromString ( const std::string & str ) const [private]

Extract a time from a timestamp.

Extracts a time value from the given PostgreSQL.

Parameters:

str	The timestamp to parse.

Returns:: The time value from the string.

Definition at line 727 of file Client.cpp.

const string & Client::getDatabase ( ) const

Database value accessor.

Get the database value of this Client.

Returns:: The database value.

Definition at line 80 of file Client.cpp.

const string & Client::getHost ( ) const

Host value accessor.

Get the host value of this Client.

Returns:: The host value.

Definition at line 65 of file Client.cpp.

const string & Client::getPassword ( ) const

Password value accessor.

Get the password value of this Client.

Returns:: The password value.

Definition at line 75 of file Client.cpp.

uint16_t Client::getPort ( ) const

Port value accessor.

Get the port value of this Client.

Returns:: The port value.

Definition at line 60 of file Client.cpp.

bool Client::getStringArrayFromPrepared	(	const std::string &	prepared_name,
		const std::string &	column_name,
		std::vector< std::string > &	strings
	)		const `[private]`

Extract a string column from the database.

Attempt to get an array of strings from a prepared statement based on a given column name in the result. This will call the named prepared statement and extract the values form the given column and place them in the given vector.

Parameters:

prepared_name	The name of the prepared statement to execute.
column_name	The column name to extract strings from.
strings	The vector to fill with the values.

Returns:: bool Returns true if a successful load was completed and the data was set correctly.

Definition at line 745 of file Client.cpp.

bool Client::getUniqueGraspDemonstrationObjectNames ( std::vector< std::string > & names ) const

Load the unique demonstration object names from the database.

Load a list of the unique object names from the grasp demonstrations.

Parameters:

names The vector to fill with the unique names.

Returns:: bool Returns true if a successful load was completed and the data was set correctly.

Definition at line 431 of file Client.cpp.

bool Client::getUniqueGraspModelObjectNames ( std::vector< std::string > & names ) const

Load the unique grasp model object names from the database.

Load a list of the unique object names from the grasp models.

Parameters:

names The vector to fill with the unique names.

Returns:: bool Returns true if a successful load was completed and the data was set correctly.

Definition at line 436 of file Client.cpp.

const string & Client::getUser ( ) const

User value accessor.

Get the user value of this Client.

Returns:: The user value.

Definition at line 70 of file Client.cpp.

bool Client::loadGrasp	(	uint32_t	id,
		Grasp &	grasp
	)		const

Load a grasp from the database.

Load the grasp data from the database with the given ID and store it in the given Grasp.

Parameters:

id	The ID of the grasp to load.
grasp	The Grasp object to fill with the loaded data.

Returns:: bool Returns true if a successful load was completed and the data was set correctly.

Definition at line 301 of file Client.cpp.

bool Client::loadGraspByGraspModelID	(	const uint32_t	grasp_model_id,
		std::vector< Grasp > &	grasps
	)		const

Load grasps from the database from an associated model ID.

Load the grasp data from the database with the given grasp model ID and store them in the given vector.

Parameters:

grasp_model_id	The object name of the grasp demonstrations to load.
grasps	The vector to fill with Grasp objects with the loaded data.

Returns:: bool Returns true if a successful load was completed and the data was set correctly.

Definition at line 320 of file Client.cpp.

bool Client::loadGraspDemonstration	(	uint32_t	id,
		GraspDemonstration &	gd
	)		const

Load a grasp demonstration from the database.

Load the grasp demonstration data from the database with the given ID and store it in the given GraspDemonstration.

Parameters:

id	The ID of the grasp demonstration to load.
gd	The GraspDemonstration object to fill with the loaded data.

Returns:: bool Returns true if a successful load was completed and the data was set correctly.

Definition at line 238 of file Client.cpp.

bool Client::loadGraspDemonstrations ( std::vector< GraspDemonstration > & gds ) const

Load all grasp demonstrations from the database.

Load all grasp demonstrations data from the database with and store them in the given vector.

Parameters:

gds	The vector to fill with GraspDemonstration objects with the loaded data.

Returns:: bool Returns true if a successful load was completed and the data was set correctly.

Definition at line 257 of file Client.cpp.

bool Client::loadGraspDemonstrationsByObjectName	(	const std::string &	object_name,
		std::vector< GraspDemonstration > &	gds
	)		const

Load grasp demonstrations from the database from an object name.

Load the grasp demonstrations data from the database with the given object names and store them in the given vector.

Parameters:

object_name	The object name of the grasp demonstrations to load.
gds	The vector to fill with GraspDemonstration objects with the loaded data.

Returns:: bool Returns true if a successful load was completed and the data was set correctly.

Definition at line 279 of file Client.cpp.

bool Client::loadGraspModel	(	uint32_t	id,
		GraspModel &	gm
	)		const

Load a grasp model from the database.

Load the grasp model data from the database with the given ID and store it in the given GraspModel. Associated grasps are also loaded.

Parameters:

id	The ID of the grasp model to load.
gm	The Grasp model object to fill with the loaded data.

Returns:: bool Returns true if a successful load was completed and the data was set correctly.

Definition at line 342 of file Client.cpp.

bool Client::loadGraspModels ( std::vector< GraspModel > & gms ) const

Load all grasp models from the database.

Load all grasp models data from the database and store them in the given vector.

Parameters:

gms	The vector to fill with GraspModel objects with the loaded data.

Returns:: bool Returns true if a successful load was completed and the data was set correctly.

Definition at line 369 of file Client.cpp.

bool Client::loadGraspModelsByObjectName	(	const std::string &	object_name,
		std::vector< GraspModel > &	gms
	)		const

Load grasp models from the database from an object name.

Load the grasp models data from the database with the given object names and store them in the given vector.

Parameters:

object_name	The object name of the grasp model to load.
gms	The vector to fill with GraspModel objects with the loaded data.

Returns:: bool Returns true if a successful load was completed and the data was set correctly.

Definition at line 400 of file Client.cpp.

string Client::toSQL ( const Pose & p ) const [private]

Convert a Pose to a PostgreSQL object string.

Converts the given Pose to a PostgreSQL object string for use in SQL queries.

Parameters:

p	The Pose object to convert to a PostgreSQL object string.

Returns:: The converted PostgreSQL object string.

Definition at line 768 of file Client.cpp.

string Client::toSQL ( const Position & p ) const [private]

Convert a Position to a PostgreSQL object string.

Converts the given Position to a PostgreSQL object string for use in SQL queries.

Parameters:

p	The Position object to convert to a PostgreSQL object string.

Returns:: The converted PostgreSQL object string.

Definition at line 776 of file Client.cpp.

string Client::toSQL ( const Orientation & o ) const [private]

Convert an Orientation to a PostgreSQL object string.

Converts the given Orientation to a PostgreSQL object string for use in SQL queries.

Parameters:

o	The Orientation object to convert to a PostgreSQL object string.

Returns:: The converted PostgreSQL object string.

Definition at line 784 of file Client.cpp.

Member Data Documentation

pqxx::connection* rail::pick_and_place::graspdb::Client::connection_ [private]

The main database connection client.

Definition at line 484 of file Client.h.

std::string rail::pick_and_place::graspdb::Client::db_ [private]

Definition at line 480 of file Client.h.

const unsigned int rail::pick_and_place::graspdb::Client::DEFAULT_PORT = 5432 [static]

The default PostgreSQL port.

Definition at line 44 of file Client.h.

std::string rail::pick_and_place::graspdb::Client::host_ [private]

Database connection information.

Definition at line 480 of file Client.h.

std::string rail::pick_and_place::graspdb::Client::password_ [private]

Definition at line 480 of file Client.h.

uint16_t rail::pick_and_place::graspdb::Client::port_ [private]

Database port information.

Definition at line 482 of file Client.h.

std::string rail::pick_and_place::graspdb::Client::user_ [private]

Definition at line 480 of file Client.h.

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

Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation