void
CGDBGraspProcessor::run()
{
std::vector<db_planner::Model*> models;
//get the old-style for which the McGrip grasps work
mDbMgr->ModelList(&models, db_planner::FilterList::OLD_STYLE_IV);
std::vector<db_planner::Model*>::iterator it;
GraspableBody *currentModel = NULL;
//reset the stats and the results
mProcessor->reset();
for (it=models.begin(); it!=models.end(); it++) {
if (mMaxGrasps >=0 && mProcessedGrasps >= mMaxGrasps) break;
//delete the previous model; careful, don't delete it
if (currentModel) {
mHand->getWorld()->destroyElement(currentModel, false);
currentModel = NULL;
}
GraspitDBModel *gModel = dynamic_cast<GraspitDBModel*>(*it);
if (!gModel) {
assert(0);
continue;
}
//load the current model
if (!gModel->geometryLoaded()) {
gModel->load(mHand->getWorld());
}
gModel->getGraspableBody()->addToIvc();
mHand->getWorld()->addBody(gModel->getGraspableBody());
currentModel = gModel->getGraspableBody();
//get all the grasps
std::vector<db_planner::Grasp*> grasps;
if(!mDbMgr->GetGrasps(*gModel,mHand->getDBName().toStdString(), &grasps)){
DBGP("Load grasps failed - no grasps found for model " << gModel->ModelName());
continue;
}
//keep the human ones
std::vector<db_planner::Grasp*>::iterator it2 = grasps.begin();
while (it2!=grasps.end()) {
if( QString((*it2)->GetSource().c_str()) == "HUMAN_REFINED") {
it2++;
} else {
delete (*it2);
it2 = grasps.erase(it2);
}
}
//and process them
processGrasps(&grasps);
//clean up
while (!grasps.empty()) {
delete grasps.back();
grasps.pop_back();
}
}
mProcessor->finalize();
if (currentModel) {
mHand->getWorld()->destroyElement(currentModel, false);
}
while(!models.empty()) {
DBGA("Deleting model");
delete models.back();
DBGA("Model deleted");
models.pop_back();
}
}
