moveit_message_storage.cpp

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/* Author: Ioan Sucan */
 
#include <moveit/warehouse/moveit_message_storage.h>
#include <warehouse_ros/database_loader.h>
#include <boost/regex.hpp>
#include <memory>
#include <utility>
 
moveit_warehouse::MoveItMessageStorage::MoveItMessageStorage(warehouse_ros::DatabaseConnection::Ptr conn)
  : conn_(std::move(conn))
{
}
 
void moveit_warehouse::MoveItMessageStorage::filterNames(const std::string& regex, std::vector<std::string>& names) const
{
  if (!regex.empty())
  {
    std::vector<std::string> fnames;
    boost::regex r(regex);
    for (std::string& name : names)
    {
      boost::cmatch match;
      if (boost::regex_match(name.c_str(), match, r))
        fnames.push_back(name);
    }
    names.swap(fnames);
  }
}
 
typename warehouse_ros::DatabaseConnection::Ptr moveit_warehouse::loadDatabase()
{
  static std::unique_ptr<warehouse_ros::DatabaseLoader> db_loader;
  if (!db_loader)
  {
    db_loader = std::make_unique<warehouse_ros::DatabaseLoader>();
  }
  return db_loader->loadDatabase();
}