dbase_planner_plugin.cpp

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#include "graspit_dbase_tasks/dbTaskDispatcher.h"

#include "dbase_grasp_planner/grasp_planning_task.h"
#include "dbase_grasp_planner/guided_grasp_planning_task.h"
#include "dbase_grasp_planner/grasp_clustering_task.h"
#include "dbase_grasp_planner/velo_grasp_planning_task.h"

class GraspPlanningTaskCreator : public graspit_dbase_tasks::DBTaskCreator
{
public:
  virtual graspit_dbase_tasks::DBTask* operator()(graspit_dbase_tasks::DBTaskDispatcher *disp, 
                                                  db_planner::DatabaseManager *mgr, 
                                                  db_planner::TaskRecord rec)
  {
    return new dbase_grasp_planner::GraspPlanningTask(disp, mgr, rec);
  }
};

class GuidedGraspPlanningTaskCreator : public graspit_dbase_tasks::DBTaskCreator
{
public:
  virtual graspit_dbase_tasks::DBTask* operator()(graspit_dbase_tasks::DBTaskDispatcher *disp, 
                                                  db_planner::DatabaseManager *mgr, 
                                                  db_planner::TaskRecord rec)
  {
    return new dbase_grasp_planner::GuidedGraspPlanningTask(disp, mgr, rec);
  }
};

class VeloGraspPlanningTaskCreator : public graspit_dbase_tasks::DBTaskCreator
{
public:
  virtual graspit_dbase_tasks::DBTask* operator()(graspit_dbase_tasks::DBTaskDispatcher *disp, 
                                                  db_planner::DatabaseManager *mgr, 
                                                  db_planner::TaskRecord rec)
  {
    return new dbase_grasp_planner::VeloGraspPlanningTask(disp, mgr, rec);
  }
};

class GraspClusteringTaskCreator : public graspit_dbase_tasks::DBTaskCreator
{
public:
  virtual graspit_dbase_tasks::DBTask* operator()(graspit_dbase_tasks::DBTaskDispatcher *disp, 
                                                  db_planner::DatabaseManager *mgr, 
                                                  db_planner::TaskRecord rec)
  {
    return new dbase_grasp_planner::GraspClusteringTask(disp, mgr, rec);
  }
};

extern "C" Plugin* createPlugin() {
  graspit_dbase_tasks::DBTaskDispatcher* dispatcher = new graspit_dbase_tasks::DBTaskDispatcher;

  GraspPlanningTaskCreator *creator = new GraspPlanningTaskCreator;
  dispatcher->registerTaskCreator("GRASP_PLANNING", creator);

  GuidedGraspPlanningTaskCreator *guided_creator = new GuidedGraspPlanningTaskCreator;
  dispatcher->registerTaskCreator("GUIDED_GRASP_PLANNING", guided_creator);

  VeloGraspPlanningTaskCreator *velo_creator = new VeloGraspPlanningTaskCreator;
  dispatcher->registerTaskCreator("VELO_GRASP_PLANNING", velo_creator);

  GraspClusteringTaskCreator *clustering_creator = new GraspClusteringTaskCreator;
  dispatcher->registerTaskCreator("GRASP_CLUSTERING", clustering_creator);

  return dispatcher;
}

extern "C" std::string getType() {
  return "dbase_grasp_planning";
}