/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/DBase/DBPlanner/caching_neighbor_finder.h

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//######################################################################
//
// GraspIt!
// Copyright (C) 2002-2009  Columbia University in the City of New York.
// All rights reserved.
//
// GraspIt! is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// GraspIt! is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with GraspIt!.  If not, see <http://www.gnu.org/licenses/>.
//
// Author(s):  Corey Goldfeder
//
// $Id: caching_neighbor_finder.h,v 1.4 2009/06/17 18:57:14 coreyg Exp $
//
//######################################################################

#ifndef DB_PLANNER_CACHING_NEIGHBOR_FINDER_H
#define DB_PLANNER_CACHING_NEIGHBOR_FINDER_H

#include <string>
#include <vector>
#include "db_manager.h"
#include "model.h"
#include "neighbor_finder.h"
using std::string;
using std::vector;

namespace db_planner {


class CachingNeighborFinder : public NeighborFinder<Model>{
 private:
  const DatabaseManager& db_manager_;
  const bool cache_results_;
  const string distance_function_name_;
  const NeighborFinder<Model>& neighbor_finder_;
 public:
  CachingNeighborFinder(
      const DatabaseManager& db_manager,
      const bool cache_results, 
      const string& distance_function_name,
      const NeighborFinder<Model>& neighbor_finder = NeighborFinder<Model>())
        : db_manager_(db_manager),
          cache_results_(cache_results), 
          distance_function_name_(distance_function_name),
          neighbor_finder_(neighbor_finder) { }

  virtual bool Find(const Model& query, 
                    const int num_neighbors,
                    vector<pair<Model*, double> >* neighbors) const {
    // Try to retrieve saved features first.
    if (db_manager_.GetNeighbors(query, 
                                 distance_function_name_, 
                                 num_neighbors,
                                 neighbors)) {
      return true;
    }
    // That failed, so try to get neighbors the supplied NeighborsGenerator.
    if (neighbor_finder_.Find(query, num_neighbors, neighbors)) {
      // If desired, save the results in the database.
      if (cache_results_) {
        db_manager_.SaveNeighbors(query,
                                  distance_function_name_,
                                  *neighbors);
      }
      return true;
    } 
    return false; // Failure; we can't find neighbors for this query.
  }
};



}  // end namespace db_planner

#endif  // DB_PLANNER_CACHING_NEIGHBOR_FINDER_H_

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autogenerated on Wed Jan 25 10:58:52 2012