bool SqlDatabaseManager::GetNeighbors(const Model& model,
const string& distance_function_name,
const int num_neighbors,
vector<pair<Model*, double> >* neighbors) const {
if (neighbors == NULL) return false;
Table results;
stringstream query_text;
query_text << "SELECT * FROM get_saved_neighbors('" << model.ModelName()
<< "','" << distance_function_name
<< "'," << num_neighbors << ");";
if (!database_.Query(query_text.str(), &results)) return false;
int distance_column;
if (!results.GetColumnIndex("distance", &distance_column)) return false;
// Turn each database row into a Model.
LoadModelFunctor load_model_functor(results, model_root_);
double distance;
const int num_rows = results.NumRows();
neighbors->reserve(num_rows);
for (int row = 0; row < num_rows; ++row) {
Model* neighbor_model = model_allocator_->Get();
if (!load_model_functor(neighbor_model, row) ||
!results.GetField(distance_column, row, &distance)) return false;
neighbors->push_back(make_pair(neighbor_model, distance));
}
return true;
}
bool SqlDatabaseManager::GetAlignment(const Model& source,
const Model& dest,
const string& alignment_method_name,
float alignment[16]) const {
Table results;
stringstream query_text;
query_text << "SELECT get_alignment('" << source.ModelName() << "','"
<< dest.ModelName() << "','" << alignment_method_name << "')";
if (!database_.Query(query_text.str(), &results)) return false;
vector<float> alignment_vector;
alignment_vector.reserve(16);
if (results.NumColumns() == 0 || results.NumRows() == 0) return false;
if (!results.GetField(0, 0, &alignment_vector)) return false;
for (int i = 0; i < 16; ++i) alignment[i] = alignment_vector[i];
return true;
}
/*! This is a helper to filter out duplicate code from the GetXXXList functions.
The name_type is assumed to be the name of the table, and the column in the table
is assumed to be "<name_type>_name".*/
static bool NameList(const string& name_type,
const DatabaseConnection& database,
vector<string>* list) {
if (list == NULL) return false;
Table results;
if (!database.Query("SELECT * FROM get_" + name_type + "_names();",
&results)) return false;
const int num_rows = results.NumRows();
list->reserve(num_rows);
int name_column;
if (!results.GetColumnIndex(name_type + "_name", &name_column)) return false;
string name;
for (int row = 0; row < num_rows; ++row) {
if (!results.GetField(name_column, row, &name)) return false;
list->push_back(name);
}
return true;
}
bool SqlDatabaseManager::ModelList(vector<Model*>* model_list,
FilterList::FilterType filter) const {
if (model_list == NULL) return false;
Table results;
if (!database_.Query("SELECT * FROM get_models() " +
FilterList::GetWhereClause(filter) + ";",
&results)) return false;
// Turn each database row into a Model.
LoadModelFunctor load_model_functor(results, model_root_);
const int num_rows = results.NumRows();
model_list->reserve(num_rows);
for (int row = 0; row < num_rows; ++row) {
Model* model = model_allocator_->Get();
if (!load_model_functor(model, row)){
return false;
}
model_list->push_back(model);
}
return true;
}
bool SqlDatabaseManager::GetGrasps(const Model& model,
const string& hand_name,
vector<Grasp*>* grasp_list) const {
if (grasp_list == NULL) return false;
Table results;
PROF_START_TIMER(GET_GRASPS_SQL);
if (!database_.Query("SELECT * FROM get_grasps('" + model.ModelName() +
"','" + hand_name + "');", &results))
return false;
PROF_STOP_TIMER(GET_GRASPS_SQL);
// Get the column indices for the columns we care about.
int pregrasp_joints_column, grasp_joints_column,
pregrasp_position_column, grasp_position_column,
grasp_id_column, epsilon_quality_column, volume_quality_column,
grasp_contacts_column, grasp_source_name_column;
PROF_START_TIMER(GET_GRASPS_GETCOLUMN);
if (!results.GetColumnIndex("grasp_pregrasp_joints", &pregrasp_joints_column) ||
!results.GetColumnIndex("grasp_grasp_joints", &grasp_joints_column) ||
!results.GetColumnIndex("grasp_pregrasp_position",
&pregrasp_position_column) ||
!results.GetColumnIndex("grasp_grasp_position", &grasp_position_column) ||
!results.GetColumnIndex("grasp_id", &grasp_id_column) ||
!results.GetColumnIndex("grasp_epsilon_quality", &epsilon_quality_column) ||
!results.GetColumnIndex("grasp_volume_quality", &volume_quality_column) ||
!results.GetColumnIndex("grasp_contacts", &grasp_contacts_column) ||
!results.GetColumnIndex("grasp_source_name", &grasp_source_name_column))
return false;
PROF_STOP_TIMER(GET_GRASPS_GETCOLUMN);
// Turn each database row into a Grasp.
vector<double> pregrasp_joints, grasp_joints,
pregrasp_position, grasp_position, grasp_contacts;
int grasp_id;
string grasp_source_name;
double epsilon_quality, volume_quality;
const int num_rows = results.NumRows();
grasp_list->reserve(num_rows);
for (int row = 0; row < num_rows; ++row) {
grasp_list->push_back(grasp_allocator_->Get());
Grasp& grasp = *(grasp_list->back());
pregrasp_joints.clear();
pregrasp_position.clear();
grasp_joints.clear();
grasp_position.clear();
PROF_START_TIMER(GET_GRASPS_GETFIELD);
if (!results.GetField(pregrasp_joints_column, row, &pregrasp_joints) ||
!results.GetField(grasp_joints_column, row, &grasp_joints) ||
!results.GetField(pregrasp_position_column, row, &pregrasp_position) ||
!results.GetField(grasp_position_column, row, &grasp_position) ||
!results.GetField(grasp_id_column, row, &grasp_id) ||
!results.GetField(epsilon_quality_column, row, &epsilon_quality) ||
!results.GetField(volume_quality_column, row, &volume_quality) ||
!results.GetField(grasp_contacts_column, row, &grasp_contacts) ||
!results.GetField(grasp_source_name_column, row, &grasp_source_name))
return false;
PROF_STOP_TIMER(GET_GRASPS_GETFIELD);
grasp.SetSourceModel(model);
grasp.SetHandName(hand_name);
grasp.SetEpsilonQuality(epsilon_quality);
grasp.SetVolumeQuality(volume_quality);
grasp.SetGraspId(grasp_id);
pregrasp_joints.erase(pregrasp_joints.begin());
pregrasp_position.erase(pregrasp_position.begin());
grasp_joints.erase(grasp_joints.begin());
grasp_position.erase(grasp_position.begin());
grasp.SetGraspParameters(pregrasp_joints,
pregrasp_position,
grasp_joints,
grasp_position);
grasp.SetContacts(grasp_contacts);
grasp.SetPregraspJoints(pregrasp_joints);
grasp.SetPregraspPosition(pregrasp_position);
grasp.SetFinalgraspJoints(grasp_joints);
grasp.SetFinalgraspPosition(grasp_position);
grasp.SetSource(grasp_source_name);
}
return true;
}