graspit: /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/DBase/DBPlanner/ros_database

00001 //######################################################################
00002 //
00003 // GraspIt!
00004 // Copyright (C) 2002-2009  Columbia University in the City of New York.
00005 // All rights reserved.
00006 //
00007 // GraspIt! is free software: you can redistribute it and/or modify
00008 // it under the terms of the GNU General Public License as published by
00009 // the Free Software Foundation, either version 3 of the License, or
00010 // (at your option) any later version.
00011 //
00012 // GraspIt! is distributed in the hope that it will be useful,
00013 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00014 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00015 // GNU General Public License for more details.
00016 //
00017 // You should have received a copy of the GNU General Public License
00018 // along with GraspIt!.  If not, see <http://www.gnu.org/licenses/>.
00019 //
00020 // Author(s):  Matei T. Ciocarlie
00021 //
00022 // $Id: ros_database_manager.h,v 1.6 2010/08/11 02:45:37 cmatei Exp $
00023 //
00024 //######################################################################
00025 
00030 #ifndef ROS_DATABASE_MANAGER_H
00031 #define ROS_DATABASE_MANAGER_H
00032 
00033 #include <string>
00034 #include <vector>
00035 #include <utility>
00036 
00037 #include "db_manager.h"
00038 #include "model.h"
00039 #include "task.h"
00040 #include "grasp.h"
00041 
00042 namespace household_objects_database {
00043   class ObjectsDatabase;
00044   class DatabaseScaledModel;
00045 }
00046 
00047 using std::pair;
00048 using std::string;
00049 using std::vector;
00050 
00051 namespace db_planner {
00052 
00054 class RosDatabaseManager : public DatabaseManager 
00055 {
00056  protected:
00057 
00059   household_objects_database::ObjectsDatabase* database_;
00060 
00062   void modelFromDBModel(Model *model, 
00063                         const household_objects_database::DatabaseScaledModel &db_model, 
00064                         std::string model_root) const;
00065  public:
00066   RosDatabaseManager(std::string host, std::string port, std::string user,
00067                      std::string password, std::string dbname, 
00068                      ModelAllocator *model_allocator, GraspAllocator* grasp_allocator);
00069   ~RosDatabaseManager();
00070 
00072   void SetGraspAllocator(GraspAllocator* allocator) {
00073     delete grasp_allocator_;
00074     grasp_allocator_ = allocator;
00075   }
00077   void SetModelAllocator(ModelAllocator* allocator) {
00078     delete model_allocator_;
00079     model_allocator_ = allocator;
00080   }
00081 
00083   virtual bool GetAlignment(const Model&, const Model&, const string&, float*) const {return false;}
00085   virtual bool SaveAlignment(const Model&, const Model&, const string&, const float*) const {return false;}
00087   virtual bool GetNeighbors(const Model&, const string&, const int, 
00088                             vector<pair<Model*, double> >*) const {return false;}
00090   virtual bool SaveNeighbors(const Model&, const string&,
00091                              const vector<pair<Model*, double> >&) const {return false;}
00093   virtual bool DistanceFunctionList(vector<string>*) const {return false;}
00095   virtual bool AlignmentMethodList(vector<string>*) const {return false;}
00096 
00098   virtual bool isConnected() const;
00099 
00101   virtual bool ModelList(vector<Model*>* model_list, 
00102                          FilterList::FilterType filter = FilterList::NONE) const;
00104   virtual bool ScaledModel(Model* &model, int scaled_model_id) const;
00105 
00107 
00109   virtual bool AcquireNextTask(TaskRecord *rec);
00111   virtual bool SetTaskStatus(int task_id, const string &status);
00113   virtual bool GetPlanningTaskRecord(int task_id, PlanningTaskRecord *rec);
00115   virtual bool GetOptimizationTaskRecord(int task_id, OptimizationTaskRecord *rec);
00117   virtual bool SaveOptimizationResults(const OptimizationTaskRecord &rec,
00118                                        const std::vector<double>& parameters,
00119                                        const std::vector<double>& results);
00121   virtual bool GraspTypeList(vector<string>* type_list) const;
00123   virtual bool GetGrasps(const Model& model, const string& hand_name, vector<Grasp*>* grasp_list) const;
00124 
00126   virtual bool SaveGrasp(const Grasp*) const;
00128   virtual bool DeleteGrasp(Grasp* grasp) const;
00130   virtual bool SetGraspClusterRep(Grasp *grasp, bool rep) const;
00132   virtual bool SetGraspTableClearance(Grasp *grasp, double clearance) const;
00134   virtual bool InsertGraspPair(const Grasp *grasp1, const Grasp *grasp2) const;
00136   virtual bool LoadModelGeometry(Model* model) const;
00137 };
00138 
00139 }
00140 #endif  // ROS_DATABASE_MANAGER_H
/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/DBase/DBPlanner/ros_database_manager.h
