00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2012, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Ioan Sucan */ 00036 00037 #ifndef MOVEIT_MOVEIT_WAREHOUSE_PLANNING_SCENE_WORLD_STORAGE_ 00038 #define MOVEIT_MOVEIT_WAREHOUSE_PLANNING_SCENE_WORLD_STORAGE_ 00039 00040 #include <moveit/warehouse/moveit_message_storage.h> 00041 #include <moveit_msgs/PlanningSceneWorld.h> 00042 00043 namespace moveit_warehouse 00044 { 00045 typedef warehouse_ros::MessageWithMetadata<moveit_msgs::PlanningSceneWorld>::ConstPtr PlanningSceneWorldWithMetadata; 00046 typedef warehouse_ros::MessageCollection<moveit_msgs::PlanningSceneWorld>::Ptr PlanningSceneWorldCollection; 00047 00048 class PlanningSceneWorldStorage : public MoveItMessageStorage 00049 { 00050 public: 00051 static const std::string DATABASE_NAME; 00052 static const std::string PLANNING_SCENE_WORLD_ID_NAME; 00053 00054 PlanningSceneWorldStorage(warehouse_ros::DatabaseConnection::Ptr conn); 00055 00056 void addPlanningSceneWorld(const moveit_msgs::PlanningSceneWorld& msg, const std::string& name); 00057 bool hasPlanningSceneWorld(const std::string& name) const; 00058 void getKnownPlanningSceneWorlds(std::vector<std::string>& names) const; 00059 void getKnownPlanningSceneWorlds(const std::string& regex, std::vector<std::string>& names) const; 00060 00062 bool getPlanningSceneWorld(PlanningSceneWorldWithMetadata& msg_m, const std::string& name) const; 00063 00064 void renamePlanningSceneWorld(const std::string& old_name, const std::string& new_name); 00065 00066 void removePlanningSceneWorld(const std::string& name); 00067 00068 void reset(); 00069 00070 private: 00071 void createCollections(); 00072 00073 PlanningSceneWorldCollection planning_scene_world_collection_; 00074 }; 00075 } 00076 00077 #endif