Program Listing for File constraints_storage.h
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/* Author: Ioan Sucan */
#pragma once
#include <moveit/warehouse/moveit_message_storage.h>
#include <moveit/macros/class_forward.h>
#include <moveit_msgs/msg/constraints.hpp>
#include <moveit_warehouse_export.h>
#include <rclcpp/logger.hpp>
namespace moveit_warehouse
{
typedef warehouse_ros::MessageWithMetadata<moveit_msgs::msg::Constraints>::ConstPtr ConstraintsWithMetadata;
typedef warehouse_ros::MessageCollection<moveit_msgs::msg::Constraints>::Ptr ConstraintsCollection;
MOVEIT_CLASS_FORWARD(ConstraintsStorage); // Defines ConstraintsStoragePtr, ConstPtr, WeakPtr... etc
class MOVEIT_WAREHOUSE_EXPORT ConstraintsStorage : public MoveItMessageStorage
{
public:
static const std::string DATABASE_NAME;
static const std::string CONSTRAINTS_ID_NAME;
static const std::string CONSTRAINTS_GROUP_NAME;
static const std::string ROBOT_NAME;
ConstraintsStorage(warehouse_ros::DatabaseConnection::Ptr conn);
void addConstraints(const moveit_msgs::msg::Constraints& msg, const std::string& robot = "",
const std::string& group = "");
bool hasConstraints(const std::string& name, const std::string& robot = "", const std::string& group = "") const;
void getKnownConstraints(std::vector<std::string>& names, const std::string& robot = "",
const std::string& group = "") const;
void getKnownConstraints(const std::string& regex, std::vector<std::string>& names, const std::string& robot = "",
const std::string& group = "") const;
bool getConstraints(ConstraintsWithMetadata& msg_m, const std::string& name, const std::string& robot = "",
const std::string& group = "") const;
void renameConstraints(const std::string& old_name, const std::string& new_name, const std::string& robot = "",
const std::string& group = "");
void removeConstraints(const std::string& name, const std::string& robot = "", const std::string& group = "");
void reset();
private:
void createCollections();
ConstraintsCollection constraints_collection_;
rclcpp::Logger logger_;
};
} // namespace moveit_warehouse