db_planner::RosDatabaseManager Class Reference

Pure virtual base class for interfacing GraspIt with an unspecified Grasp Database. More...

#include <ros_database_manager.h>

Inheritance diagram for db_planner::RosDatabaseManager:

Public Member Functions
virtual bool	AcquireNextTask (TaskRecord *rec)
	Acquires the next experiment to be executed from the list of tasks in the database.
virtual bool	AlignmentMethodList (vector< string > *) const
	Not implemented.
virtual bool	DeleteGrasp (Grasp *grasp) const
	Delete a grasp from the database.
virtual bool	DistanceFunctionList (vector< string > *) const
	Not implemented.
virtual bool	GetAlignment (const Model &, const Model &, const string &, float *) const
	Not implemented.
virtual bool	GetGrasps (const Model &model, const string &hand_name, vector< Grasp * > *grasp_list) const
	Get a list of the Grasps for a Model.
virtual bool	GetNeighbors (const Model &, const string &, const int, vector< pair< Model , double > > ) const
	Not implemented.
virtual bool	GetOptimizationTaskRecord (int task_id, OptimizationTaskRecord *rec)
	Fills in the details for an optimzation task based on the task id.
virtual bool	GetPlanningTaskRecord (int task_id, PlanningTaskRecord *rec)
	Fills in the details for a planning task based on the task id.
virtual bool	GraspTypeList (vector< string > *type_list) const
	Get a list of grasp types available in the database.
virtual bool	InsertGraspPair (const Grasp grasp1, const Grasp grasp2) const
	Inserts into the database info that a pair of existing db grasps can be executed simultaneously.
virtual bool	isConnected () const
	Returns true if the manager has successfully connected to the database.
virtual bool	LoadModelGeometry (Model *model) const
	Loads the model's mesh directly from the database.
virtual bool	ModelList (vector< Model * > *model_list, FilterList::FilterType filter=FilterList::NONE) const
	Get a list of models in the database.
	RosDatabaseManager (std::string host, std::string port, std::string user, std::string password, std::string dbname, ModelAllocator model_allocator, GraspAllocator grasp_allocator)
virtual bool	SaveAlignment (const Model &, const Model &, const string &, const float *) const
	Not implemented.
virtual bool	SaveGrasp (const Grasp *) const
	Save a grasp into the database.
virtual bool	SaveNeighbors (const Model &, const string &, const vector< pair< Model *, double > > &) const
	Not implemented.
virtual bool	SaveOptimizationResults (const OptimizationTaskRecord &rec, const std::vector< double > &parameters, const std::vector< double > &results)
	Saves the results of an optimization in the database.
virtual bool	ScaledModel (Model *&model, int scaled_model_id) const
	Gets one individual model from the database based on scaled model id.
void	SetGraspAllocator (GraspAllocator *allocator)
	Sets a new grasp allocator; deletes the old one.
virtual bool	SetGraspClusterRep (Grasp *grasp, bool rep) const
	Sets the cluster_rep field of the grasp in the database.
virtual bool	SetGraspTableClearance (Grasp *grasp, double clearance) const
	Sets the table_clearance field of the grasp in the database.
void	SetModelAllocator (ModelAllocator *allocator)
	Sets a new model allocator; deletes the old one.
virtual bool	SetTaskStatus (int task_id, const string &status)
	Change the status of a task in the database (e.g. mark it as COMPLETED).
	~RosDatabaseManager ()
Protected Member Functions
void	modelFromDBModel (Model *model, const household_objects_database::DatabaseScaledModel &db_model, std::string model_root) const
	Initializes a graspit model from a raw database model. Helper for ModelList.
Protected Attributes
household_objects_database::ObjectsDatabase *	database_
	The actual ROS interface to the database.

Detailed Description

Pure virtual base class for interfacing GraspIt with an unspecified Grasp Database.

Definition at line 54 of file ros_database_manager.h.

Constructor & Destructor Documentation

db_planner::RosDatabaseManager::RosDatabaseManager	(	std::string	host,
		std::string	port,
		std::string	user,
		std::string	password,
		std::string	dbname,
		ModelAllocator *	model_allocator,
		GraspAllocator *	grasp_allocator
	)

Definition at line 42 of file ros_database_manager.cpp.

db_planner::RosDatabaseManager::~RosDatabaseManager ( )

Definition at line 51 of file ros_database_manager.cpp.

Member Function Documentation

bool db_planner::RosDatabaseManager::AcquireNextTask ( TaskRecord * rec ) [virtual]

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

Also marks it as RUNNING in an atomic fashion, so that it is not acquired by another process.

Implements db_planner::DatabaseManager.

Definition at line 126 of file ros_database_manager.cpp.

virtual bool db_planner::RosDatabaseManager::AlignmentMethodList ( vector< string > * ) const [inline, virtual]

Not implemented.

Implements db_planner::DatabaseManager.

Definition at line 95 of file ros_database_manager.h.

bool db_planner::RosDatabaseManager::DeleteGrasp ( Grasp * grasp ) const [virtual]

Delete a grasp from the database.

Implements db_planner::DatabaseManager.

Definition at line 327 of file ros_database_manager.cpp.

virtual bool db_planner::RosDatabaseManager::DistanceFunctionList ( vector< string > * ) const [inline, virtual]

Not implemented.

Implements db_planner::DatabaseManager.

Definition at line 93 of file ros_database_manager.h.

virtual bool db_planner::RosDatabaseManager::GetAlignment	(	const Model &	,
		const Model &	,
		const string &	,
		float *
	)			const `[inline, virtual]`

Not implemented.

Definition at line 83 of file ros_database_manager.h.

bool db_planner::RosDatabaseManager::GetGrasps	(	const Model &	model,
		const string &	hand_name,
		vector< Grasp * > *	grasp_list
	)			const `[virtual]`

Get a list of the Grasps for a Model.

Implements db_planner::DatabaseManager.

Definition at line 223 of file ros_database_manager.cpp.

virtual bool db_planner::RosDatabaseManager::GetNeighbors	(	const Model &	,
		const string &	,
		const	int,
		vector< pair< Model , double > >
	)			const `[inline, virtual]`

Not implemented.

Implements db_planner::DatabaseManager.

Definition at line 87 of file ros_database_manager.h.

bool db_planner::RosDatabaseManager::GetOptimizationTaskRecord	(	int	task_id,
		OptimizationTaskRecord *	rec
	)			`[virtual]`

Fills in the details for an optimzation task based on the task id.

Reimplemented from db_planner::DatabaseManager.

Definition at line 184 of file ros_database_manager.cpp.

bool db_planner::RosDatabaseManager::GetPlanningTaskRecord	(	int	task_id,
		PlanningTaskRecord *	rec
	)			`[virtual]`

Fills in the details for a planning task based on the task id.

Implements db_planner::DatabaseManager.

Definition at line 151 of file ros_database_manager.cpp.

bool db_planner::RosDatabaseManager::GraspTypeList ( vector< string > * type_list ) const [virtual]

Get a list of grasp types available in the database.

Implements db_planner::DatabaseManager.

Definition at line 217 of file ros_database_manager.cpp.

bool db_planner::RosDatabaseManager::InsertGraspPair	(	const Grasp *	grasp1,
		const Grasp *	grasp2
	)			const `[virtual]`

Inserts into the database info that a pair of existing db grasps can be executed simultaneously.

Implements db_planner::DatabaseManager.

Definition at line 352 of file ros_database_manager.cpp.

bool db_planner::RosDatabaseManager::isConnected ( ) const [virtual]

Returns true if the manager has successfully connected to the database.

Implements db_planner::DatabaseManager.

Definition at line 59 of file ros_database_manager.cpp.

bool db_planner::RosDatabaseManager::LoadModelGeometry ( Model * model ) const [virtual]

Loads the model's mesh directly from the database.

Implements db_planner::DatabaseManager.

Definition at line 365 of file ros_database_manager.cpp.

void db_planner::RosDatabaseManager::modelFromDBModel	(	Model *	model,
		const household_objects_database::DatabaseScaledModel &	db_model,
		std::string	model_root
	)			const `[protected]`

Initializes a graspit model from a raw database model. Helper for ModelList.

Definition at line 64 of file ros_database_manager.cpp.

bool db_planner::RosDatabaseManager::ModelList	(	vector< Model * > *	model_list,
		FilterList::FilterType	filter = `FilterList::NONE`
	)			const `[virtual]`

Get a list of models in the database.

Implements db_planner::DatabaseManager.

Definition at line 96 of file ros_database_manager.cpp.

virtual bool db_planner::RosDatabaseManager::SaveAlignment	(	const Model &	,
		const Model &	,
		const string &	,
		const float *
	)			const `[inline, virtual]`

Not implemented.

Definition at line 85 of file ros_database_manager.h.

bool db_planner::RosDatabaseManager::SaveGrasp ( const Grasp * grasp ) const [virtual]

Save a grasp into the database.

Implements db_planner::DatabaseManager.

Definition at line 287 of file ros_database_manager.cpp.

virtual bool db_planner::RosDatabaseManager::SaveNeighbors	(	const Model &	,
		const string &	,
		const vector< pair< Model *, double > > &
	)			const `[inline, virtual]`

Not implemented.

Implements db_planner::DatabaseManager.

Definition at line 90 of file ros_database_manager.h.

bool db_planner::RosDatabaseManager::SaveOptimizationResults	(	const OptimizationTaskRecord &	rec,
		const std::vector< double > &	parameters,
		const std::vector< double > &	results
	)			`[virtual]`

Saves the results of an optimization in the database.

Reimplemented from db_planner::DatabaseManager.

Definition at line 200 of file ros_database_manager.cpp.

bool db_planner::RosDatabaseManager::ScaledModel	(	Model *&	model,
		int	scaled_model_id
	)			const `[virtual]`

Gets one individual model from the database based on scaled model id.

Implements db_planner::DatabaseManager.

Definition at line 111 of file ros_database_manager.cpp.

void db_planner::RosDatabaseManager::SetGraspAllocator ( GraspAllocator * allocator ) [inline, virtual]

Sets a new grasp allocator; deletes the old one.

Implements db_planner::DatabaseManager.

Definition at line 72 of file ros_database_manager.h.

bool db_planner::RosDatabaseManager::SetGraspClusterRep	(	Grasp *	grasp,
		bool	rep
	)			const `[virtual]`

Sets the cluster_rep field of the grasp in the database.

Implements db_planner::DatabaseManager.

Definition at line 335 of file ros_database_manager.cpp.

bool db_planner::RosDatabaseManager::SetGraspTableClearance	(	Grasp *	grasp,
		double	clearance
	)			const `[virtual]`

Sets the table_clearance field of the grasp in the database.

Implements db_planner::DatabaseManager.

Definition at line 343 of file ros_database_manager.cpp.

void db_planner::RosDatabaseManager::SetModelAllocator ( ModelAllocator * allocator ) [inline, virtual]

Sets a new model allocator; deletes the old one.

Implements db_planner::DatabaseManager.

Definition at line 77 of file ros_database_manager.h.

bool db_planner::RosDatabaseManager::SetTaskStatus	(	int	task_id,
		const string &	status
	)			`[virtual]`

Change the status of a task in the database (e.g. mark it as COMPLETED).

Implements db_planner::DatabaseManager.

Definition at line 142 of file ros_database_manager.cpp.

Member Data Documentation

household_objects_database::ObjectsDatabase* db_planner::RosDatabaseManager::database_ [protected]

The actual ROS interface to the database.

Definition at line 59 of file ros_database_manager.h.

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

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

db_planner::RosDatabaseManager Class Reference

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation