utility.h
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00001 #ifndef UTILITY_H_
00002 #define UTILITY_H_
00003 
00004 #include <string.h>
00005 #include <ros/ros.h>
00006 #include <vector>
00007 #include <iostream>
00008 #include <fstream>
00009 #include <sstream>
00010 #include <stdint.h>
00011 #include <algorithm>
00012 #include <iterator>
00013 #include <database_interface/postgresql_database.h>
00014 #include <database_interface/db_class.h>
00015 #include <pcl/ros/conversions.h>
00016 #include <pcl/point_cloud.h>
00017 #include <pcl/point_types.h>
00018 #include <pcl/io/pcd_io.h>
00019 #include <pcl/pcl_base.h>
00020 #include <pcl/io/io.h>
00021 #include <srs_object_database_msgs/surf.h>
00022 #include <srs_object_database_msgs/pcl.h>
00023 #include "srs_object_database_msgs/point_types.h"
00024 #include "srs_object_database_msgs/impl/point_types.cpp"
00025 #include <arm_navigation_msgs/Shape.h>
00026 
00027 struct input {
00028   std::string id;
00029   std::string category;
00030   std::string name;
00031   std::string description;
00032   std::string image;
00033   std::string image_type;
00034   std::string grasp;
00035   std::string mesh;
00036   std::string mType;
00037   std::string pcl;
00038   std::string surf;
00039   std::string x;
00040   std::string y;
00041   std::string z;
00042   std::string basic_shape;
00043   std::string graspable;
00044   std::string urdf;
00045 } ;
00046 
00047 // FILE OPEN-READ-WRITE UTILITY
00048 void utWriteToFile(char * data,std::string,long);
00049 void utDataWrite(std::vector<uint8_t>,std::string);
00050 char* utConvertToChar(std::vector<char>);
00051 std::vector<char> utConvertToVector(char* inputData);
00052 
00053 char * utRetrieveDataFile(std::string,  int *);
00054 input utGetInputParameter(std::string);
00055 // Data Loading utility
00056 void utLoadFeaturePointFromFile(std::string,srs_object_database_msgs::surf::Ptr &);
00057 
00058 void utLoadCloudPointFromPLYFile(std::string);
00059 
00060 arm_navigation_msgs::Shape utLoadMeshFromFile(std::string , srs_object_database_msgs::pcl::Ptr &);
00061 
00062 // utility
00063 
00064 std::string fromCharPt(char *);
00065 
00066 // DATABASE UTILITY
00067 database_interface::PostgresqlDatabase utLoadSettings(std::string ,std::string ,std::string ,std::string ,std::string );
00068 
00069 
00070 #endif /* UTILITY_H_ */


srs_object_database_msgs
Author(s): Georg Arbeiter
autogenerated on Sun Jan 5 2014 11:36:26