Program Listing for File planning_scene_world_storage.h
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/* Author: Ioan Sucan */
#pragma once
#include <moveit/warehouse/moveit_message_storage.h>
#include <moveit_msgs/msg/planning_scene_world.hpp>
#include <rclcpp/logger.hpp>
namespace moveit_warehouse
{
typedef warehouse_ros::MessageWithMetadata<moveit_msgs::msg::PlanningSceneWorld>::ConstPtr PlanningSceneWorldWithMetadata;
typedef warehouse_ros::MessageCollection<moveit_msgs::msg::PlanningSceneWorld>::Ptr PlanningSceneWorldCollection;
class PlanningSceneWorldStorage : public MoveItMessageStorage
{
public:
static const std::string DATABASE_NAME;
static const std::string PLANNING_SCENE_WORLD_ID_NAME;
PlanningSceneWorldStorage(warehouse_ros::DatabaseConnection::Ptr conn);
void addPlanningSceneWorld(const moveit_msgs::msg::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_;
rclcpp::Logger logger_;
};
} // namespace moveit_warehouse