planning_scene_world_storage.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_MOVEIT_WAREHOUSE_PLANNING_SCENE_WORLD_STORAGE_
#define MOVEIT_MOVEIT_WAREHOUSE_PLANNING_SCENE_WORLD_STORAGE_

#include <moveit/warehouse/moveit_message_storage.h>
#include <moveit_msgs/PlanningSceneWorld.h>

namespace moveit_warehouse
{
typedef mongo_ros::MessageWithMetadata<moveit_msgs::PlanningSceneWorld>::ConstPtr PlanningSceneWorldWithMetadata;
typedef boost::shared_ptr<mongo_ros::MessageCollection<moveit_msgs::PlanningSceneWorld> > PlanningSceneWorldCollection;

class PlanningSceneWorldStorage : public MoveItMessageStorage
{
public:
  static const std::string DATABASE_NAME;
  static const std::string PLANNING_SCENE_WORLD_ID_NAME;

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

  void addPlanningSceneWorld(const moveit_msgs::PlanningSceneWorld& msg, const std::string& name);
  bool hasPlanningSceneWorld(const std::string& name) const;
  void getKnownPlanningSceneWorlds(std::vector<std::string>& names) const;
  void getKnownPlanningSceneWorlds(const std::string& regex, std::vector<std::string>& names) const;

  bool getPlanningSceneWorld(PlanningSceneWorldWithMetadata& msg_m, const std::string& name) const;

  void renamePlanningSceneWorld(const std::string& old_name, const std::string& new_name);

  void removePlanningSceneWorld(const std::string& name);

  void reset();

private:
  void createCollections();

  PlanningSceneWorldCollection planning_scene_world_collection_;
};
}

#endif