state_storage.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
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 &regex, 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


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