constraints_storage.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_MOVEIT_WAREHOUSE_CONSTRAINTS_STORAGE_
#define MOVEIT_MOVEIT_WAREHOUSE_CONSTRAINTS_STORAGE_

#include "moveit/warehouse/moveit_message_storage.h"
#include <moveit_msgs/Constraints.h>

namespace moveit_warehouse
{

typedef mongo_ros::MessageWithMetadata<moveit_msgs::Constraints>::ConstPtr ConstraintsWithMetadata;
typedef boost::shared_ptr<mongo_ros::MessageCollection<moveit_msgs::Constraints> > ConstraintsCollection;

class 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(const std::string &host = "", const unsigned int port = 0, double wait_seconds = 5.0);

  void addConstraints(const moveit_msgs::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_;

};
}

#endif