The average restaurant has 50 seats or so, that's a lot of dough, also the iPads screen will not work under another layer of glass.
If the iPad doesn't work under glass, then a cheaper alternative touch sensor could be used, as suggested by others in this thread.
A typical 'asshole' and 'dirty fingers' proof point of sale terminal for in a restaurant goes for 5 grand or so.
But that's only one for all the tables you've got.
Also, don't underestimate the cost of writing the software and integrating it in to the workflow of the restaurant.