state_storage.h
Go to the documentation of this file.
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2012, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Willow Garage nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *********************************************************************/
34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_MOVEIT_WAREHOUSE_STATE_STORAGE_
38 #define MOVEIT_MOVEIT_WAREHOUSE_STATE_STORAGE_
39 
42 #include <moveit_msgs/RobotState.h>
43 
44 namespace moveit_warehouse
45 {
48 
50 
52 {
53 public:
54  static const std::string DATABASE_NAME;
55 
56  static const std::string STATE_NAME;
57  static const std::string ROBOT_NAME;
58 
60 
61  void addRobotState(const moveit_msgs::RobotState& msg, const std::string& name, const std::string& robot = "");
62  bool hasRobotState(const std::string& name, const std::string& robot = "") const;
63  void getKnownRobotStates(std::vector<std::string>& names, const std::string& robot = "") const;
64  void getKnownRobotStates(const std::string& regex, std::vector<std::string>& names,
65  const std::string& robot = "") const;
66 
68  bool getRobotState(RobotStateWithMetadata& msg_m, const std::string& name, const std::string& robot = "") const;
69 
70  void renameRobotState(const std::string& old_name, const std::string& new_name, const std::string& robot = "");
71 
72  void removeRobotState(const std::string& name, const std::string& robot = "");
73 
74  void reset();
75 
76 private:
77  void createCollections();
78 
79  RobotStateCollection state_collection_;
80 };
81 }
82 
83 #endif
void addRobotState(const moveit_msgs::RobotState &msg, const std::string &name, const std::string &robot="")
void getKnownRobotStates(std::vector< std::string > &names, const std::string &robot="") const
RobotStateStorage(warehouse_ros::DatabaseConnection::Ptr conn)
warehouse_ros::MessageWithMetadata< moveit_msgs::RobotState >::ConstPtr RobotStateWithMetadata
Definition: state_storage.h:46
This class provides the mechanism to connect to a database and reads needed ROS parameters when appro...
MOVEIT_CLASS_FORWARD(ConstraintsStorage)
bool hasRobotState(const std::string &name, const std::string &robot="") const
static const std::string DATABASE_NAME
Definition: state_storage.h:54
static const std::string STATE_NAME
Definition: state_storage.h:56
bool getRobotState(RobotStateWithMetadata &msg_m, const std::string &name, const std::string &robot="") const
Get the constraints named name. Return false on failure.
RobotStateCollection state_collection_
Definition: state_storage.h:79
void renameRobotState(const std::string &old_name, const std::string &new_name, const std::string &robot="")
void removeRobotState(const std::string &name, const std::string &robot="")
warehouse_ros::MessageCollection< moveit_msgs::RobotState >::Ptr RobotStateCollection
Definition: state_storage.h:47
static const std::string ROBOT_NAME
Definition: state_storage.h:57


warehouse
Author(s): Ioan Sucan
autogenerated on Sun Oct 18 2020 13:18:37