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00037 #ifndef MOVEIT_MOVEIT_WAREHOUSE_STATE_STORAGE_
00038 #define MOVEIT_MOVEIT_WAREHOUSE_STATE_STORAGE_
00039
00040 #include <moveit/warehouse/moveit_message_storage.h>
00041 #include <moveit_msgs/RobotState.h>
00042
00043 namespace moveit_warehouse
00044 {
00045
00046 typedef mongo_ros::MessageWithMetadata<moveit_msgs::RobotState>::ConstPtr RobotStateWithMetadata;
00047 typedef boost::shared_ptr<mongo_ros::MessageCollection<moveit_msgs::RobotState> > RobotStateCollection;
00048
00049 class RobotStateStorage : public MoveItMessageStorage
00050 {
00051 public:
00052
00053 static const std::string DATABASE_NAME;
00054
00055 static const std::string STATE_NAME;
00056 static const std::string ROBOT_NAME;
00057
00063 RobotStateStorage(const std::string &host = "", const unsigned int port = 0, double wait_seconds = 5.0);
00064
00065 void addRobotState(const moveit_msgs::RobotState &msg, const std::string &name, const std::string &robot = "");
00066 bool hasRobotState(const std::string &name, const std::string &robot = "") const;
00067 void getKnownRobotStates(std::vector<std::string> &names, const std::string &robot = "") const;
00068 void getKnownRobotStates(const std::string ®ex, std::vector<std::string> &names, const std::string &robot = "") const;
00069
00071 bool getRobotState(RobotStateWithMetadata &msg_m, const std::string &name, const std::string &robot = "") const;
00072
00073 void renameRobotState(const std::string &old_name, const std::string &new_name, const std::string &robot = "");
00074
00075 void removeRobotState(const std::string &name, const std::string &robot = "");
00076
00077 void reset();
00078
00079 private:
00080
00081 void createCollections();
00082
00083 RobotStateCollection state_collection_;
00084
00085 };
00086 }
00087
00088 #endif