probabilistic_grasp_planner: probabilistic_grasp_planner: probabilistic_grasp

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00034 
00035 // Author(s): Peter Brook
00036 
00037 #ifndef PROBABILISTIC_GRASP_PLANNER_H_
00038 #define PROBABILISTIC_GRASP_PLANNER_H_
00039 
00040 #include <object_manipulator/tools/grasp_marker_publisher.h>
00041 
00042 #include "probabilistic_grasp_planner/forward_decls.h"
00043 
00044 #include "probabilistic_grasp_planner/recognition_probability_computer.h"
00045 #include "probabilistic_grasp_planner/grasp_success_probability_computer.h"
00046 #include "probabilistic_grasp_planner/grasp_retriever.h"
00047 
00048 namespace probabilistic_grasp_planner {
00049 
00050 class ProbabilisticGraspPlanner
00051 {
00052 private:
00053   ObjectsDatabasePtr database_;
00054 
00055   ros::NodeHandle nh_;
00056 
00058   object_manipulator::GraspMarkerPublisher *grasp_marker_publisher_;
00059 
00061   object_manipulator::GraspMarkerPublisher *debug_grasp_marker_publisher_;
00062 
00064   object_manipulator::GraspMarkerPublisher debug_preprune_grasp_marker_publisher_;
00065 
00067   object_manipulator::GraspMarkerPublisher debug_precluster_grasp_marker_publisher_;
00068 
00070   object_manipulator::GraspMarkerPublisher debug_postprune_grasp_marker_publisher_;
00071 
00073   object_manipulator::GraspMarkerPublisher *rank_grasp_marker_publisher_;
00074 
00079   void visualizeGrasps(const std::vector<GraspWithMetadata> &grasps, 
00080                         object_manipulator::GraspMarkerPublisher *grasp_marker_pub, bool color_by_rank);
00081 
00087   void populateRepresentationsList(std::vector<ObjectRepresentation> &representations,
00088                            std::string arm_name,
00089                            const object_manipulation_msgs::GraspableObject &request_object,
00090                            const bool enable_cluster);
00091 
00096   ObjectRepresentation getObjectRepresentationFromCluster(const object_manipulation_msgs::GraspableObject &request_object,
00097                                                         std::string arm_name);
00098 
00099 
00104   ObjectRepresentation getObjectRepresentationFromDatabaseObject(
00105                                 const household_objects_database_msgs::DatabaseModelPose &model_with_score,
00106                                 std::string arm_name);
00107 
00108   void printGrasps(const std::vector<GraspWithMetadata> &grasps);
00109 
00110   void appendMetadataToTestGrasps(std::vector<object_manipulation_msgs::Grasp> &input_list,
00111                                  std::vector<GraspWithMetadata> &output_list,
00112                                  const object_manipulation_msgs::GraspableObject &graspable_object);
00113 
00114   void pruneGraspList(std::vector<GraspWithMetadata> &grasps, const double threshold);
00115 
00116   void clusterGrasps(std::vector<GraspWithMetadata> &input_list, std::vector<GraspWithMetadata> &cluster_rep_list);
00117 
00118   void printRepresentations(const std::vector<ObjectRepresentation> &representations);
00119 
00120 public:
00124   ProbabilisticGraspPlanner(ObjectsDatabasePtr database) :
00125     database_(database),
00126     nh_("~"),
00127     debug_preprune_grasp_marker_publisher_("debug_preprune_grasp_list","",5.0),
00128     debug_precluster_grasp_marker_publisher_("debug_precluster_grasp_list","",5.0),
00129     debug_postprune_grasp_marker_publisher_("debug_postprune_grasp_list","",5.0)
00130   {
00131   }
00132 
00140   void plan(const std::string &arm_name, object_manipulation_msgs::GraspableObject &graspable_object,
00141             std::vector<object_manipulation_msgs::Grasp> &grasps, bool visualize_results,
00142             bool prune_grasps);
00147   void setMarkerPublisher(object_manipulator::GraspMarkerPublisher* publisher,
00148                           object_manipulator::GraspMarkerPublisher* debug_publisher,
00149                           object_manipulator::GraspMarkerPublisher* rank_publisher)
00150   {
00151     grasp_marker_publisher_ = publisher;
00152     debug_grasp_marker_publisher_ = debug_publisher;
00153     rank_grasp_marker_publisher_ = rank_publisher;
00154   }
00155 };
00156 typedef boost::shared_ptr<ProbabilisticGraspPlanner> ProbabilisticGraspPlannerPtr;
00157 
00158 } //namespace
00159 
00160 #endif /* PROBABILISTIC_GRASP_PLANNER_H_ */
probabilistic_grasp_planner.h
