Class PlanningSceneStorage

Defined in File planning_scene_storage.h

Inheritance Relationships

Base Type

public moveit_warehouse::MoveItMessageStorage (Class MoveItMessageStorage)

Class Documentation

class PlanningSceneStorage : public moveit_warehouse::MoveItMessageStorage 

Public Functions

PlanningSceneStorage(warehouse_ros::DatabaseConnection::Ptr conn)

void addPlanningScene(const moveit_msgs::msg::PlanningScene &scene)

void addPlanningQuery(const moveit_msgs::msg::MotionPlanRequest &planning_query, const std::string &scene_name, const std::string &query_name = "")

void addPlanningResult(const moveit_msgs::msg::MotionPlanRequest &planning_query, const moveit_msgs::msg::RobotTrajectory &result, const std::string &scene_name)

bool hasPlanningScene(const std::string &name) const

void getPlanningSceneNames(std::vector<std::string> &names) const

void getPlanningSceneNames(const std::string &regex, std::vector<std::string> &names) const

bool getPlanningScene(PlanningSceneWithMetadata &scene_m, const std::string &scene_name) const: Get the latest planning scene named scene_name.

bool getPlanningSceneWorld(moveit_msgs::msg::PlanningSceneWorld &world, const std::string &scene_name) const

bool hasPlanningQuery(const std::string &scene_name, const std::string &query_name) const

bool getPlanningQuery(MotionPlanRequestWithMetadata &query_m, const std::string &scene_name, const std::string &query_name)

void getPlanningQueries(std::vector<MotionPlanRequestWithMetadata> &planning_queries, const std::string &scene_name) const

void getPlanningQueriesNames(std::vector<std::string> &query_names, const std::string &scene_name) const

void getPlanningQueriesNames(const std::string &regex, std::vector<std::string> &query_names, const std::string &scene_name) const

void getPlanningQueries(std::vector<MotionPlanRequestWithMetadata> &planning_queries, std::vector<std::string> &query_names, const std::string &scene_name) const

void getPlanningResults(std::vector<RobotTrajectoryWithMetadata> &planning_results, const std::string &scene_name, const moveit_msgs::msg::MotionPlanRequest &planning_query) const

void getPlanningResults(std::vector<RobotTrajectoryWithMetadata> &planning_results, const std::string &scene_name, const std::string &query_name) const

void renamePlanningScene(const std::string &old_scene_name, const std::string &new_scene_name)

void renamePlanningQuery(const std::string &scene_name, const std::string &old_query_name, const std::string &new_query_name)

void removePlanningScene(const std::string &scene_name)

void removePlanningQuery(const std::string &scene_name, const std::string &query_name)

void removePlanningQueries(const std::string &scene_name)

void removePlanningResults(const std::string &scene_name)

void removePlanningResults(const std::string &scene_name, const std::string &query_name)

void reset()

Public Static Attributes

static const std::string DATABASE_NAME

static const std::string PLANNING_SCENE_ID_NAME

static const std::string MOTION_PLAN_REQUEST_ID_NAME