Program Listing for File trajectory_constraints_storage.h
↰ Return to documentation for file (include/moveit/warehouse/trajectory_constraints_storage.h
)
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2013, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Mario Prats, Ioan Sucan */
#pragma once
#include <moveit/warehouse/moveit_message_storage.h>
#include <moveit/macros/class_forward.h>
#include <moveit_msgs/msg/trajectory_constraints.hpp>
#include <rclcpp/logger.hpp>
namespace moveit_warehouse
{
typedef warehouse_ros::MessageWithMetadata<moveit_msgs::msg::TrajectoryConstraints>::ConstPtr
TrajectoryConstraintsWithMetadata;
typedef warehouse_ros::MessageCollection<moveit_msgs::msg::TrajectoryConstraints>::Ptr TrajectoryConstraintsCollection;
MOVEIT_CLASS_FORWARD(TrajectoryConstraintsStorage); // Defines TrajectoryConstraintsStoragePtr, ConstPtr, WeakPtr... etc
class TrajectoryConstraintsStorage : public MoveItMessageStorage
{
public:
static const std::string DATABASE_NAME;
static const std::string CONSTRAINTS_ID_NAME;
static const std::string CONSTRAINTS_GROUP_NAME;
static const std::string ROBOT_NAME;
TrajectoryConstraintsStorage(warehouse_ros::DatabaseConnection::Ptr conn);
void addTrajectoryConstraints(const moveit_msgs::msg::TrajectoryConstraints& msg, const std::string& name,
const std::string& robot = "", const std::string& group = "");
bool hasTrajectoryConstraints(const std::string& name, const std::string& robot = "",
const std::string& group = "") const;
void getKnownTrajectoryConstraints(std::vector<std::string>& names, const std::string& robot = "",
const std::string& group = "") const;
void getKnownTrajectoryConstraints(const std::string& regex, std::vector<std::string>& names,
const std::string& robot = "", const std::string& group = "") const;
bool getTrajectoryConstraints(TrajectoryConstraintsWithMetadata& msg_m, const std::string& name,
const std::string& robot = "", const std::string& group = "") const;
void renameTrajectoryConstraints(const std::string& old_name, const std::string& new_name,
const std::string& robot = "", const std::string& group = "");
void removeTrajectoryConstraints(const std::string& name, const std::string& robot = "",
const std::string& group = "");
void reset();
private:
void createCollections();
TrajectoryConstraintsCollection constraints_collection_;
rclcpp::Logger logger_;
};
} // namespace moveit_warehouse