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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #ifndef _BAYES_NET_GRASP_PLANNER_TOOLS_H_ 00036 #define _BAYES_NET_GRASP_PLANNER_TOOLS_H_ 00037 00038 #include <tf/transform_datatypes.h> 00039 #include <ros/ros.h> 00040 00041 namespace bayesian_grasp_planner { 00042 00044 class GraspWM 00045 { 00046 public: 00047 int grasp_id_; 00048 int model_id_; 00049 double energy_function_score; 00050 object_manipulation_msgs::Grasp grasp_; 00051 tf::Stamped<tf::Pose> object_pose_; 00052 tf::Stamped<tf::Pose> tool_point_pose_; 00053 double success_probability; 00054 std::vector< std::vector<double> > success_cond_probs; //conditional probabilities for successful grasps 00055 std::vector< std::vector<double> > failure_cond_probs; //and failed grasps (one vector for each object rep) 00056 00057 GraspWM() : success_probability(0.0) {} 00058 00059 void getDistance(const GraspWM &other, double &cartesian_dist, double &rotation_dist, bool debug=false) const 00060 { 00061 tf::Vector3 gstar_position = tool_point_pose_.getOrigin(); 00062 tf::Quaternion gstar_orientation = tool_point_pose_.getRotation(); 00063 00064 tf::Vector3 grasp_position = other.tool_point_pose_.getOrigin(); 00065 tf::Quaternion grasp_orientation = other.tool_point_pose_.getRotation(); 00066 00067 if (debug) ROS_INFO("grasp: %f %f %f; other: %f %f %f", 00068 gstar_position.x(),gstar_position.y(),gstar_position.z(), 00069 grasp_position.x(),grasp_position.y(),grasp_position.z()); 00070 00071 tf::Vector3 delta_position = gstar_position - grasp_position; 00072 cartesian_dist = delta_position.length(); 00073 00074 rotation_dist = gstar_orientation.angleShortestPath(grasp_orientation); 00075 } 00076 00077 object_manipulation_msgs::Grasp getGrasp() 00078 { 00079 return grasp_; 00080 } 00081 }; 00082 00083 inline bool operator< (const GraspWM &g1, const GraspWM &g2) 00084 { 00085 return g1.grasp_.success_probability < g2.grasp_.success_probability; 00086 } 00087 00088 00089 //pretty-print a std::vector<double> 00090 inline void pplist(const std::vector<double> &list) 00091 { 00092 for (size_t ind = 0; ind < list.size(); ind++) 00093 { 00094 printf("%.3f ", list[ind]); 00095 } 00096 printf("\n"); 00097 } 00098 00099 00100 template <class svcType> 00101 inline ros::ServiceClient register_service(ros::NodeHandle &nh, const std::string &service_name) 00102 { 00103 while (!ros::service::waitForService(service_name, ros::Duration(2.0)) && nh.ok()) 00104 { 00105 ROS_INFO("Waiting for %s service to come up", service_name.c_str()); 00106 } 00107 if (!nh.ok()) exit(0); 00108 return nh.serviceClient<svcType>(service_name, true); 00109 } 00110 00111 00113 00116 template <class ServiceDataType> 00117 class ServiceWrapper 00118 { 00119 private: 00121 bool initialized_; 00123 std::string service_name_; 00125 ros::NodeHandle nh_; 00127 ros::ServiceClient client_; 00128 public: 00129 ServiceWrapper(std::string service_name) : initialized_(false), 00130 service_name_(service_name), 00131 nh_("") 00132 {} 00133 00135 ros::ServiceClient& client() 00136 { 00137 if (!initialized_) 00138 { 00139 while ( !ros::service::waitForService(service_name_, ros::Duration(2.0)) && nh_.ok() ) 00140 { 00141 ROS_INFO_STREAM("Waiting for service: " << service_name_); 00142 } 00143 if (!nh_.ok()) exit(0); 00144 client_ = nh_.serviceClient<ServiceDataType>(service_name_); 00145 initialized_ = true; 00146 } 00147 return client_; 00148 } 00149 }; 00150 00151 00152 00153 } //namespace 00154 00155 #endif