#include <planning_scene_storage.h>

Inheritance diagram for moveit_warehouse::PlanningSceneStorage:

Public Member Functions
void	addPlanningQuery (const moveit_msgs::MotionPlanRequest &planning_query, const std::string &scene_name, const std::string &query_name="")

void	addPlanningResult (const moveit_msgs::MotionPlanRequest &planning_query, const moveit_msgs::RobotTrajectory &result, const std::string &scene_name)

void	addPlanningScene (const moveit_msgs::PlanningScene &scene)

void	getPlanningQueries (std::vector< MotionPlanRequestWithMetadata > &planning_queries, const std::string &scene_name) const

void	getPlanningQueries (std::vector< MotionPlanRequestWithMetadata > &planning_queries, std::vector< std::string > &query_names, const std::string &scene_name) const

void	getPlanningQueriesNames (const std::string &regex, std::vector< std::string > &query_names, const std::string &scene_name) const

void	getPlanningQueriesNames (std::vector< std::string > &query_names, const std::string &scene_name) const

bool	getPlanningQuery (MotionPlanRequestWithMetadata &query_m, const std::string &scene_name, const std::string &query_name)

void	getPlanningResults (std::vector< RobotTrajectoryWithMetadata > &planning_results, const std::string &scene_name, const moveit_msgs::MotionPlanRequest &planning_query) const

void	getPlanningResults (std::vector< RobotTrajectoryWithMetadata > &planning_results, const std::string &scene_name, const std::string &query_name) const

bool	getPlanningScene (PlanningSceneWithMetadata &scene_m, const std::string &scene_name) const
	Get the latest planning scene named scene_name. More...

void	getPlanningSceneNames (const std::string &regex, std::vector< std::string > &names) const

void	getPlanningSceneNames (std::vector< std::string > &names) const

bool	getPlanningSceneWorld (moveit_msgs::PlanningSceneWorld &world, const std::string &scene_name) const

bool	hasPlanningQuery (const std::string &scene_name, const std::string &query_name) const

bool	hasPlanningScene (const std::string &name) const

	PlanningSceneStorage (warehouse_ros::DatabaseConnection::Ptr conn)

void	removePlanningQueries (const std::string &scene_name)

void	removePlanningQuery (const std::string &scene_name, const std::string &query_name)

void	removePlanningResults (const std::string &scene_name)

void	removePlanningResults (const std::string &scene_name, const std::string &query_name)

void	removePlanningScene (const std::string &scene_name)

void	renamePlanningQuery (const std::string &scene_name, const std::string &old_query_name, const std::string &new_query_name)

void	renamePlanningScene (const std::string &old_scene_name, const std::string &new_scene_name)

void	reset ()

Public Member Functions inherited from moveit_warehouse::MoveItMessageStorage
	MoveItMessageStorage (warehouse_ros::DatabaseConnection::Ptr conn)
	Takes a warehouse_ros DatabaseConnection. The DatabaseConnection is expected to have already been initialized. More...

virtual	~MoveItMessageStorage ()

Static Public Attributes
static const std::string	DATABASE_NAME = "moveit_planning_scenes"

static const std::string	MOTION_PLAN_REQUEST_ID_NAME = "motion_request_id"

static const std::string	PLANNING_SCENE_ID_NAME = "planning_scene_id"

Private Member Functions
std::string	addNewPlanningRequest (const moveit_msgs::MotionPlanRequest &planning_query, const std::string &scene_name, const std::string &query_name)

void	createCollections ()

std::string	getMotionPlanRequestName (const moveit_msgs::MotionPlanRequest &planning_query, const std::string &scene_name) const

Private Attributes
MotionPlanRequestCollection	motion_plan_request_collection_

PlanningSceneCollection	planning_scene_collection_

RobotTrajectoryCollection	robot_trajectory_collection_

Additional Inherited Members
Protected Member Functions inherited from moveit_warehouse::MoveItMessageStorage
void	filterNames (const std::string &regex, std::vector< std::string > &names) const
	Keep only the names that match regex. More...

Protected Attributes inherited from moveit_warehouse::MoveItMessageStorage
warehouse_ros::DatabaseConnection::Ptr	conn_

Detailed Description

Definition at line 89 of file planning_scene_storage.h.

Constructor & Destructor Documentation

◆ PlanningSceneStorage()

moveit_warehouse::PlanningSceneStorage::PlanningSceneStorage ( warehouse_ros::DatabaseConnection::Ptr conn )

Definition at line 49 of file planning_scene_storage.cpp.

Member Function Documentation

◆ addNewPlanningRequest()

std::string moveit_warehouse::PlanningSceneStorage::addNewPlanningRequest	(	const moveit_msgs::MotionPlanRequest &	planning_query,
		const std::string &	scene_name,
		const std::string &	query_name
	)

private

Definition at line 146 of file planning_scene_storage.cpp.

◆ addPlanningQuery()

void moveit_warehouse::PlanningSceneStorage::addPlanningQuery	(	const moveit_msgs::MotionPlanRequest &	planning_query,
		const std::string &	scene_name,
		const std::string &	query_name = `""`
	)

Definition at line 132 of file planning_scene_storage.cpp.

◆ addPlanningResult()

void moveit_warehouse::PlanningSceneStorage::addPlanningResult	(	const moveit_msgs::MotionPlanRequest &	planning_query,
		const moveit_msgs::RobotTrajectory &	result,
		const std::string &	scene_name
	)

Definition at line 173 of file planning_scene_storage.cpp.

◆ addPlanningScene()

void moveit_warehouse::PlanningSceneStorage::addPlanningScene ( const moveit_msgs::PlanningScene & scene )

Definition at line 73 of file planning_scene_storage.cpp.

◆ createCollections()

void moveit_warehouse::PlanningSceneStorage::createCollections ( )

private

Definition at line 55 of file planning_scene_storage.cpp.

◆ getMotionPlanRequestName()

std::string moveit_warehouse::PlanningSceneStorage::getMotionPlanRequestName	(	const moveit_msgs::MotionPlanRequest &	planning_query,
		const std::string &	scene_name
	)		const

private

Definition at line 96 of file planning_scene_storage.cpp.

◆ getPlanningQueries() [1/2]

void moveit_warehouse::PlanningSceneStorage::getPlanningQueries	(	std::vector< MotionPlanRequestWithMetadata > &	planning_queries,
		const std::string &	scene_name
	)		const

Definition at line 255 of file planning_scene_storage.cpp.

◆ getPlanningQueries() [2/2]

void moveit_warehouse::PlanningSceneStorage::getPlanningQueries	(	std::vector< MotionPlanRequestWithMetadata > &	planning_queries,
		std::vector< std::string > &	query_names,
		const std::string &	scene_name
	)		const

Definition at line 297 of file planning_scene_storage.cpp.

◆ getPlanningQueriesNames() [1/2]

void moveit_warehouse::PlanningSceneStorage::getPlanningQueriesNames	(	const std::string &	regex,
		std::vector< std::string > &	query_names,
		const std::string &	scene_name
	)		const

Definition at line 275 of file planning_scene_storage.cpp.

◆ getPlanningQueriesNames() [2/2]

void moveit_warehouse::PlanningSceneStorage::getPlanningQueriesNames	(	std::vector< std::string > &	query_names,
		const std::string &	scene_name
	)		const

Definition at line 263 of file planning_scene_storage.cpp.

◆ getPlanningQuery()

bool moveit_warehouse::PlanningSceneStorage::getPlanningQuery	(	MotionPlanRequestWithMetadata &	query_m,
		const std::string &	scene_name,
		const std::string &	query_name
	)

Definition at line 235 of file planning_scene_storage.cpp.

◆ getPlanningResults() [1/2]

void moveit_warehouse::PlanningSceneStorage::getPlanningResults	(	std::vector< RobotTrajectoryWithMetadata > &	planning_results,
		const std::string &	scene_name,
		const moveit_msgs::MotionPlanRequest &	planning_query
	)		const

Definition at line 312 of file planning_scene_storage.cpp.

◆ getPlanningResults() [2/2]

void moveit_warehouse::PlanningSceneStorage::getPlanningResults	(	std::vector< RobotTrajectoryWithMetadata > &	planning_results,
		const std::string &	scene_name,
		const std::string &	query_name
	)		const

Definition at line 323 of file planning_scene_storage.cpp.

◆ getPlanningScene()

bool moveit_warehouse::PlanningSceneStorage::getPlanningScene	(	PlanningSceneWithMetadata &	scene_m,
		const std::string &	scene_name
	)		const

Get the latest planning scene named scene_name.

Definition at line 217 of file planning_scene_storage.cpp.

◆ getPlanningSceneNames() [1/2]

void moveit_warehouse::PlanningSceneStorage::getPlanningSceneNames	(	const std::string &	regex,
		std::vector< std::string > &	names
	)		const

Definition at line 197 of file planning_scene_storage.cpp.

◆ getPlanningSceneNames() [2/2]

void moveit_warehouse::PlanningSceneStorage::getPlanningSceneNames ( std::vector< std::string > & names ) const

Definition at line 186 of file planning_scene_storage.cpp.

◆ getPlanningSceneWorld()

bool moveit_warehouse::PlanningSceneStorage::getPlanningSceneWorld	(	moveit_msgs::PlanningSceneWorld &	world,
		const std::string &	scene_name
	)		const

Definition at line 204 of file planning_scene_storage.cpp.

◆ hasPlanningQuery()

bool moveit_warehouse::PlanningSceneStorage::hasPlanningQuery	(	const std::string &	scene_name,
		const std::string &	query_name
	)		const

Definition at line 333 of file planning_scene_storage.cpp.

◆ hasPlanningScene()

bool moveit_warehouse::PlanningSceneStorage::hasPlanningScene ( const std::string & name ) const

Definition at line 87 of file planning_scene_storage.cpp.

◆ removePlanningQueries()

void moveit_warehouse::PlanningSceneStorage::removePlanningQueries ( const std::string & scene_name )

Definition at line 377 of file planning_scene_storage.cpp.

◆ removePlanningQuery()

void moveit_warehouse::PlanningSceneStorage::removePlanningQuery	(	const std::string &	scene_name,
		const std::string &	query_name
	)

Definition at line 386 of file planning_scene_storage.cpp.

◆ removePlanningResults() [1/2]

void moveit_warehouse::PlanningSceneStorage::removePlanningResults ( const std::string & scene_name )

Definition at line 398 of file planning_scene_storage.cpp.

◆ removePlanningResults() [2/2]

void moveit_warehouse::PlanningSceneStorage::removePlanningResults	(	const std::string &	scene_name,
		const std::string &	query_name
	)

Definition at line 406 of file planning_scene_storage.cpp.

◆ removePlanningScene()

void moveit_warehouse::PlanningSceneStorage::removePlanningScene ( const std::string & scene_name )

Definition at line 368 of file planning_scene_storage.cpp.

◆ renamePlanningQuery()

void moveit_warehouse::PlanningSceneStorage::renamePlanningQuery	(	const std::string &	scene_name,
		const std::string &	old_query_name,
		const std::string &	new_query_name
	)

Definition at line 354 of file planning_scene_storage.cpp.

◆ renamePlanningScene()

void moveit_warehouse::PlanningSceneStorage::renamePlanningScene	(	const std::string &	old_scene_name,
		const std::string &	new_scene_name
	)

Definition at line 343 of file planning_scene_storage.cpp.

◆ reset()

void moveit_warehouse::PlanningSceneStorage::reset ( )

Definition at line 64 of file planning_scene_storage.cpp.

Member Data Documentation

◆ DATABASE_NAME

const std::string moveit_warehouse::PlanningSceneStorage::DATABASE_NAME = "moveit_planning_scenes"

static

Definition at line 92 of file planning_scene_storage.h.

◆ motion_plan_request_collection_

MotionPlanRequestCollection moveit_warehouse::PlanningSceneStorage::motion_plan_request_collection_

private

Definition at line 150 of file planning_scene_storage.h.

◆ MOTION_PLAN_REQUEST_ID_NAME

const std::string moveit_warehouse::PlanningSceneStorage::MOTION_PLAN_REQUEST_ID_NAME = "motion_request_id"

static

Definition at line 95 of file planning_scene_storage.h.

◆ planning_scene_collection_

PlanningSceneCollection moveit_warehouse::PlanningSceneStorage::planning_scene_collection_

private

Definition at line 149 of file planning_scene_storage.h.

◆ PLANNING_SCENE_ID_NAME

const std::string moveit_warehouse::PlanningSceneStorage::PLANNING_SCENE_ID_NAME = "planning_scene_id"

static

Definition at line 94 of file planning_scene_storage.h.

◆ robot_trajectory_collection_

RobotTrajectoryCollection moveit_warehouse::PlanningSceneStorage::robot_trajectory_collection_

private

Definition at line 151 of file planning_scene_storage.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PlanningSceneStorage()

Member Function Documentation

◆ addNewPlanningRequest()

◆ addPlanningQuery()

◆ addPlanningResult()

◆ addPlanningScene()

◆ createCollections()

◆ getMotionPlanRequestName()

◆ getPlanningQueries() [1/2]

◆ getPlanningQueries() [2/2]

◆ getPlanningQueriesNames() [1/2]

◆ getPlanningQueriesNames() [2/2]

◆ getPlanningQuery()

◆ getPlanningResults() [1/2]

◆ getPlanningResults() [2/2]

◆ getPlanningScene()

◆ getPlanningSceneNames() [1/2]

◆ getPlanningSceneNames() [2/2]

◆ getPlanningSceneWorld()

◆ hasPlanningQuery()

◆ hasPlanningScene()

◆ removePlanningQueries()

◆ removePlanningQuery()

◆ removePlanningResults() [1/2]

◆ removePlanningResults() [2/2]

◆ removePlanningScene()

◆ renamePlanningQuery()

◆ renamePlanningScene()

◆ reset()

Member Data Documentation

◆ DATABASE_NAME

◆ motion_plan_request_collection_

◆ MOTION_PLAN_REQUEST_ID_NAME

◆ planning_scene_collection_

◆ PLANNING_SCENE_ID_NAME

◆ robot_trajectory_collection_