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 // Author(s): Peter Brook 00036 00037 #include "probabilistic_grasp_planner/forward_decls.h" 00038 00039 #ifndef GRASP_DENSITY_ESTIMATOR_H_ 00040 #define GRASP_DENSITY_ESTIMATOR_H_ 00041 00042 namespace probabilistic_grasp_planner { 00043 00049 class GraspRegressionEvaluator 00050 { 00051 private: 00053 std::vector<GraspWithMetadata> grasps_; 00054 boost::shared_ptr<GraspSuccessProbabilityComputer> simple_computer_; 00055 00056 double position_bandwidth_; 00057 double orientation_bandwidth_; 00058 public: 00059 GraspRegressionEvaluator(const std::vector<GraspWithMetadata> &grasps, 00060 boost::shared_ptr<GraspSuccessProbabilityComputer> &simple_computer, 00061 double position_bandwidth, double orientation_bandwidth) : 00062 grasps_(grasps), 00063 simple_computer_(simple_computer), 00064 position_bandwidth_(position_bandwidth), 00065 orientation_bandwidth_(orientation_bandwidth) {} 00066 double estimateProbability(const GraspWithMetadata &grasp) const; 00067 }; 00068 00069 } // end namespace 00070 00071 #endif /* GRASP_DENSITY_ESTIMATOR_H_ */