Program Listing for File planning_scene_storage.h
↰ Return to documentation for file (/tmp/ws/src/moveit/moveit_ros/warehouse/include/moveit/warehouse/planning_scene_storage.h
)
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2012, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Ioan Sucan */
#pragma once
#include <moveit/warehouse/moveit_message_storage.h>
#include <moveit/macros/class_forward.h>
#include <moveit_msgs/msg/planning_scene.hpp>
#include <moveit_msgs/msg/motion_plan_request.hpp>
#include <moveit_msgs/msg/robot_trajectory.hpp>
#include <rclcpp/logger.hpp>
#include <moveit_warehouse_export.h>
namespace moveit_warehouse
{
typedef warehouse_ros::MessageWithMetadata<moveit_msgs::msg::PlanningScene>::ConstPtr PlanningSceneWithMetadata;
typedef warehouse_ros::MessageWithMetadata<moveit_msgs::msg::MotionPlanRequest>::ConstPtr MotionPlanRequestWithMetadata;
typedef warehouse_ros::MessageWithMetadata<moveit_msgs::msg::RobotTrajectory>::ConstPtr RobotTrajectoryWithMetadata;
typedef warehouse_ros::MessageCollection<moveit_msgs::msg::PlanningScene>::Ptr PlanningSceneCollection;
typedef warehouse_ros::MessageCollection<moveit_msgs::msg::MotionPlanRequest>::Ptr MotionPlanRequestCollection;
typedef warehouse_ros::MessageCollection<moveit_msgs::msg::RobotTrajectory>::Ptr RobotTrajectoryCollection;
MOVEIT_CLASS_FORWARD(PlanningSceneStorage); // Defines PlanningSceneStoragePtr, ConstPtr, WeakPtr... etc
class MOVEIT_WAREHOUSE_EXPORT PlanningSceneStorage : public MoveItMessageStorage
{
public:
static const std::string DATABASE_NAME;
static const std::string PLANNING_SCENE_ID_NAME;
static const std::string MOTION_PLAN_REQUEST_ID_NAME;
PlanningSceneStorage(warehouse_ros::DatabaseConnection::Ptr conn);
void addPlanningScene(const moveit_msgs::msg::PlanningScene& scene);
void addPlanningQuery(const moveit_msgs::msg::MotionPlanRequest& planning_query, const std::string& scene_name,
const std::string& query_name = "");
void addPlanningResult(const moveit_msgs::msg::MotionPlanRequest& planning_query,
const moveit_msgs::msg::RobotTrajectory& result, const std::string& scene_name);
bool hasPlanningScene(const std::string& name) const;
void getPlanningSceneNames(std::vector<std::string>& names) const;
void getPlanningSceneNames(const std::string& regex, std::vector<std::string>& names) const;
bool getPlanningScene(PlanningSceneWithMetadata& scene_m, const std::string& scene_name) const;
bool getPlanningSceneWorld(moveit_msgs::msg::PlanningSceneWorld& world, const std::string& scene_name) const;
bool hasPlanningQuery(const std::string& scene_name, const std::string& query_name) const;
bool getPlanningQuery(MotionPlanRequestWithMetadata& query_m, const std::string& scene_name,
const std::string& query_name);
void getPlanningQueries(std::vector<MotionPlanRequestWithMetadata>& planning_queries,
const std::string& scene_name) const;
void getPlanningQueriesNames(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 getPlanningQueries(std::vector<MotionPlanRequestWithMetadata>& planning_queries,
std::vector<std::string>& query_names, const std::string& scene_name) const;
void getPlanningResults(std::vector<RobotTrajectoryWithMetadata>& planning_results, const std::string& scene_name,
const moveit_msgs::msg::MotionPlanRequest& planning_query) const;
void getPlanningResults(std::vector<RobotTrajectoryWithMetadata>& planning_results, const std::string& scene_name,
const std::string& query_name) const;
void renamePlanningScene(const std::string& old_scene_name, const std::string& new_scene_name);
void renamePlanningQuery(const std::string& scene_name, const std::string& old_query_name,
const std::string& new_query_name);
void removePlanningScene(const std::string& scene_name);
void removePlanningQuery(const std::string& scene_name, const std::string& query_name);
void removePlanningQueries(const std::string& scene_name);
void removePlanningResults(const std::string& scene_name);
void removePlanningResults(const std::string& scene_name, const std::string& query_name);
void reset();
private:
void createCollections();
std::string getMotionPlanRequestName(const moveit_msgs::msg::MotionPlanRequest& planning_query,
const std::string& scene_name) const;
std::string addNewPlanningRequest(const moveit_msgs::msg::MotionPlanRequest& planning_query,
const std::string& scene_name, const std::string& query_name);
PlanningSceneCollection planning_scene_collection_;
MotionPlanRequestCollection motion_plan_request_collection_;
RobotTrajectoryCollection robot_trajectory_collection_;
rclcpp::Logger logger_;
};
} // namespace moveit_warehouse