database_helper_classes.h
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00034 
00035 // Author(s): Peter Brook
00036 
00037 #ifndef _DATABASE_HELPER_CLASSES_H_
00038 #define _DATABASE_HELPER_CLASSES_H_
00039 
00040 #include <database_interface/db_class.h>
00041 #include <geometry_msgs/Pose.h>
00042 
00043 namespace database_interface {
00044 
00046 template <>
00047 class DBField< std::vector<float> > : public DBFieldData< std::vector<float> >
00048 {
00049  public:
00050   DBField(Type type, DBClass *owner, std::string name, std::string table_name, bool write_permission) : 
00051     DBFieldData< std::vector<float> >(type, owner, name, table_name, write_permission) {}
00052 
00053  DBField(DBClass *owner, const DBField< std::vector<float> > *other) : 
00054     DBFieldData< std::vector<float> >(owner, other) 
00055       {
00056         this->copy(other);
00057       }
00058   
00059   virtual bool fromBinary(const char* binary, size_t length) 
00060   {
00061     //recall that the size given here is in bytes
00062     if (!length)
00063     {
00064       data_.clear();
00065       return true;
00066     }
00067     //check if this is indeed a multiple of a number of floats
00068     if ( length % sizeof(float) != 0)
00069     {
00070       std::cerr << "Binary conversion of " << length << " bytes to vector<float> failed\n";
00071       return false;
00072     }
00073     data_.resize(length / sizeof(float));
00074     memcpy(&(data_[0]), binary, length);
00075     return true;
00076   }
00077 
00078   virtual bool toBinary(const char* &binary, size_t &length) const 
00079   {
00080     length = sizeof(float) * data_.size();
00081     if (!data_.empty())
00082     {
00083       binary = reinterpret_cast<const char*>(&(data_[0]));
00084     }
00085     return true;
00086   }
00087 };
00088 
00090 template <>
00091 class DBField< std::vector<uint8_t> > : public DBFieldData< std::vector<uint8_t> >
00092 {
00093  public:
00094   DBField(Type type, DBClass *owner, std::string name, std::string table_name, bool write_permission) :
00095     DBFieldData< std::vector<uint8_t> >(type, owner, name, table_name, write_permission) {}
00096 
00097  DBField(DBClass *owner, const DBField< std::vector<uint8_t> > *other) :
00098     DBFieldData< std::vector<uint8_t> >(owner, other)
00099       {
00100         this->copy(other);
00101       }
00102 
00103   virtual bool fromBinary(const char* binary, size_t length)
00104   {
00105     //recall that the size given here is in bytes
00106     if (!length)
00107     {
00108       data_.clear();
00109       return true;
00110     }
00111     //check if this is indeed a multiple of a number of uint8's
00112     if ( length % sizeof(uint8_t) != 0)
00113     {
00114       std::cerr << "Binary conversion of " << length << " bytes to vector<uint8_t> failed\n";
00115       return false;
00116     }
00117     data_.resize(length / sizeof(uint8_t));
00118     memcpy(&(data_[0]), binary, length);
00119     return true;
00120   }
00121 
00122   virtual bool toBinary(const char* &binary, size_t &length) const
00123   {
00124     length = sizeof(uint8_t) * data_.size();
00125     if (!data_.empty())
00126     {
00127       binary = reinterpret_cast<const char*>(&(data_[0]));
00128     }
00129     return true;
00130   }
00131 };
00132 
00133 
00134 
00135 
00136 } //namespace database_interface
00137 
00138 namespace household_objects_database {
00139 
00140 /* Database convention is currently as follows:
00141 
00142    - joints are represented in an array with the value of each DOF of the robot: {j1}
00143      (only one joint for the PR2)
00144 
00145    - position and orientation are also in an array, with pose as a translation and quaternion:
00146      {tx, ty, tz, qw, qx, qy, qz}
00147      WARNING: in the database, the w component of the quaternion is first!!!
00148 */
00149 
00151 
00154 class DatabasePose
00155 {
00156  public:
00157   geometry_msgs::Pose pose_;
00158 };
00159 
00160 std::istream& operator >> (std::istream &str, DatabasePose &dhp);
00161 std::ostream& operator << (std::ostream &str, const DatabasePose &dhp);
00162 
00164 
00167 class DatabaseHandPosture
00168 {
00169  public:
00170   std::vector<double> joint_angles_;
00171 };
00172 
00173 std::istream& operator >> (std::istream &str, DatabaseHandPosture &dhp);
00174 std::ostream& operator << (std::ostream &str, const DatabaseHandPosture &dhp);
00175 
00176 } //namespace
00177 
00178 #endif
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household_objects_database
Author(s): Matei Ciocarlie, except for source files individually marked otherwise
autogenerated on Fri Jan 25 2013 15:02:09