grasp_clustering_task.cpp

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#include "dbase_grasp_planner/grasp_clustering_task.h"

#include <algorithm>

#include "world.h"
#include "robot.h"
#include "graspitGUI.h"
#include "matvec3D.h"
#include "EGPlanner/searchState.h"
#include "DBPlanner/db_manager.h"
#include "graspit_db_grasp.h"
#include "debug.h"

namespace dbase_grasp_planner {

GraspClusteringTask::GraspClusteringTask(graspit_dbase_tasks::DBTaskDispatcher *disp, 
                                         db_planner::DatabaseManager *mgr, 
                                         db_planner::TaskRecord rec) : DBTask (disp, mgr, rec)
{
  //nothing so far
}

void GraspClusteringTask::start()
{
  //get the details of the planning task itself
  if (!mDBMgr->GetPlanningTaskRecord(mRecord.taskId, &mPlanningTask)) {
    DBGA("Failed to get planning record for task");
    mStatus = ERROR;
    return;
  }

  World *world = graspItGUI->getIVmgr()->getWorld();
  Hand *hand;
 
  //check if the currently selected hand is the same as the one we need
  //if not, load the hand
  if (world->getCurrentHand() && world->getCurrentHand()->getDBName() == QString(mPlanningTask.handName.c_str())) {
    DBGA("Grasp Clustering Task: using currently loaded hand");
    hand = world->getCurrentHand();
  } else {
    QString handPath =  mDBMgr->getHandGraspitPath(QString(mPlanningTask.handName.c_str()));
    handPath = QString(getenv("GRASPIT")) + handPath;
    DBGA("Grasp Clustering Task: loading hand from " << handPath.latin1());           
    hand = static_cast<Hand*>(world->importRobot(handPath));
    if ( !hand ) {
      DBGA("Failed to load hand");
      mStatus = ERROR;
      return;
    }
  }
  mDBMgr->SetGraspAllocator(new GraspitDBGraspAllocator(hand));

  //load all the grasps
  std::vector<db_planner::Grasp*> graspList;
  if(!mDBMgr->GetGrasps(*(mPlanningTask.model), mPlanningTask.handName, &graspList)){
    DBGA("Load grasps failed");
    mStatus = ERROR;
    while (!graspList.empty()) {
      delete graspList.back();
      graspList.pop_back();
    }
    return;
  }

  //sort grasps by energy (hard-coded in, maybe later we'll allow other sorting)
  std::sort(graspList.begin(), graspList.end(), db_planner::Grasp::CompareEnergy);

  //if all goes well, we are done
  mStatus = DONE;
  int clusters = 0;
  DBGA("Clustering " << graspList.size() << " grasps");

  while (!graspList.empty()) {
    //pop the front (best grasp)
    db_planner::Grasp* repGrasp = graspList.front();
    graspList.erase(graspList.begin());

    //compliant_copy grasps are ignored by clustering tasks
    if (repGrasp->CompliantCopy()) {
      delete repGrasp;
      continue;
    }

    //mark it as cluster center in the database
    if (!mDBMgr->SetGraspClusterRep(repGrasp, true)) {
      DBGA("Failed to mark cluster rep in database");
      mStatus = ERROR;
      delete repGrasp;
      break;
    }
    clusters++;

    //find other grasps in its cluster
    int cloud=0;
    std::vector<db_planner::Grasp*>::iterator it = graspList.begin();
    while(it!=graspList.end()) {

      //compliant_copy grasps are ignored by clustering tasks
      if ( !(*it)->CompliantCopy() &&  
           clusterGrasps(static_cast<GraspitDBGrasp*>(repGrasp), static_cast<GraspitDBGrasp*>(*it)) ) {
        (*it)->SetClusterRep(false);
        //mark it as non-center in the database
        if (!mDBMgr->SetGraspClusterRep(*it, false)) {
          DBGA("Failed to mark non-cluster rep in database");
          mStatus = ERROR;
          break;
        }
        cloud++;
        delete *it;
        it = graspList.erase(it);
      } else {
        it++;
      }

    }
    DBGA("  Marked cluster of size " << cloud);
    delete repGrasp;
    if (mStatus == ERROR) break;
  }  
  while (!graspList.empty()) {
    delete graspList.back();
    graspList.pop_back();
  }
  DBGA("Successfully marked " << clusters << " clusters");
}

bool GraspClusteringTask::clusterGrasps(const GraspitDBGrasp *g1, const GraspitDBGrasp *g2)
{
  //2 cm distance threshold
  double DISTANCE_THRESHOLD = 20;
  //30 degrees angular threshold
  double ANGULAR_THRESHOLD = 0.52;
  
  transf t1 = g1->getHand()->getApproachTran() * g1->getFinalGraspPlanningState()->getTotalTran();
  transf t2 = g2->getHand()->getApproachTran() * g2->getFinalGraspPlanningState()->getTotalTran();

  vec3 dvec = t1.translation() - t2.translation();
  double d = dvec.len();
  if (d > DISTANCE_THRESHOLD) return false;
  
  Quaternion qvec = t1.rotation() * t2.rotation().inverse();
  vec3 axis; double angle;
  qvec.ToAngleAxis(angle,axis);
  if (angle >  M_PI) angle -= 2*M_PI;
  if (angle < -M_PI) angle += 2*M_PI;
  if (fabs(angle) > ANGULAR_THRESHOLD) return false;
  
  return true;
}

}