Program Listing for File state_storage.h
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/* Author: Ioan Sucan */
#pragma once
#include <moveit/warehouse/moveit_message_storage.h>
#include <moveit/macros/class_forward.h>
#include <moveit_msgs/msg/robot_state.hpp>
#include <rclcpp/logger.hpp>
#include <moveit_warehouse_export.h>
namespace moveit_warehouse
{
typedef warehouse_ros::MessageWithMetadata<moveit_msgs::msg::RobotState>::ConstPtr RobotStateWithMetadata;
typedef warehouse_ros::MessageCollection<moveit_msgs::msg::RobotState>::Ptr RobotStateCollection;
MOVEIT_CLASS_FORWARD(RobotStateStorage); // Defines RobotStateStoragePtr, ConstPtr, WeakPtr... etc
class MOVEIT_WAREHOUSE_EXPORT RobotStateStorage : public MoveItMessageStorage
{
public:
static const std::string DATABASE_NAME;
static const std::string STATE_NAME;
static const std::string ROBOT_NAME;
RobotStateStorage(warehouse_ros::DatabaseConnection::Ptr conn);
void addRobotState(const moveit_msgs::msg::RobotState& msg, const std::string& name, const std::string& robot = "");
bool hasRobotState(const std::string& name, const std::string& robot = "") const;
void getKnownRobotStates(std::vector<std::string>& names, const std::string& robot = "") const;
void getKnownRobotStates(const std::string& regex, std::vector<std::string>& names,
const std::string& robot = "") const;
bool getRobotState(RobotStateWithMetadata& msg_m, const std::string& name, const std::string& robot = "") const;
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 = "");
void reset();
private:
void createCollections();
RobotStateCollection state_collection_;
rclcpp::Logger logger_;
};
} // namespace moveit_warehouse