grasp_clustering_task.h

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#ifndef _GRASPCLUSTERINGTASK_H_
#define _GRASPCLUSTERINGTASK_H_

#include <graspit_dbase_tasks/dbTask.h>

class GraspitDBGrasp;

namespace dbase_grasp_planner {


class GraspClusteringTask : public graspit_dbase_tasks::DBTask {
 private:
  db_planner::PlanningTaskRecord mPlanningTask;

  bool clusterGrasps(const GraspitDBGrasp *g1, const GraspitDBGrasp *g2);
 public:
  GraspClusteringTask(graspit_dbase_tasks::DBTaskDispatcher *disp, 
                      db_planner::DatabaseManager *mgr, 
                      db_planner::TaskRecord rec);

  ~GraspClusteringTask(){}

  virtual void start();
};

}

#endif