constraints_storage.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_MOVEIT_WAREHOUSE_CONSTRAINTS_STORAGE_
00038 #define MOVEIT_MOVEIT_WAREHOUSE_CONSTRAINTS_STORAGE_
00039 
00040 #include "moveit/warehouse/moveit_message_storage.h"
00041 #include <moveit_msgs/Constraints.h>
00042 
00043 namespace moveit_warehouse
00044 {
00045 
00046 typedef mongo_ros::MessageWithMetadata<moveit_msgs::Constraints>::ConstPtr ConstraintsWithMetadata;
00047 typedef boost::shared_ptr<mongo_ros::MessageCollection<moveit_msgs::Constraints> > ConstraintsCollection;
00048 
00049 class ConstraintsStorage : public MoveItMessageStorage
00050 {
00051 public:
00052 
00053   static const std::string DATABASE_NAME;
00054 
00055   static const std::string CONSTRAINTS_ID_NAME;
00056   static const std::string CONSTRAINTS_GROUP_NAME;
00057   static const std::string ROBOT_NAME;
00058 
00059 
00065   ConstraintsStorage(const std::string &host = "", const unsigned int port = 0, double wait_seconds = 5.0);
00066 
00067   void addConstraints(const moveit_msgs::Constraints &msg, const std::string &robot = "", const std::string &group = "");
00068   bool hasConstraints(const std::string &name, const std::string &robot = "", const std::string &group = "") const;
00069   void getKnownConstraints(std::vector<std::string> &names, const std::string &robot = "", const std::string &group = "") const;
00070   void getKnownConstraints(const std::string &regex, std::vector<std::string> &names, const std::string &robot = "", const std::string &group = "") const;
00071 
00073   bool getConstraints(ConstraintsWithMetadata &msg_m, const std::string &name, const std::string &robot = "", const std::string &group = "") const;
00074 
00075   void renameConstraints(const std::string &old_name, const std::string &new_name, const std::string &robot = "", const std::string &group = "");
00076 
00077   void removeConstraints(const std::string &name, const std::string &robot = "", const std::string &group = "");
00078 
00079   void reset();
00080 
00081 private:
00082 
00083   void createCollections();
00084 
00085   ConstraintsCollection constraints_collection_;
00086 
00087 };
00088 }
00089 
00090 #endif


warehouse
Author(s): Ioan Sucan
autogenerated on Wed Aug 26 2015 12:43:45