planning_scene_storage.h
Go to the documentation of this file.
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 the 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_STORAGE_
00038 #define MOVEIT_MOVEIT_WAREHOUSE_PLANNING_SCENE_STORAGE_
00039 
00040 #include "moveit/warehouse/moveit_message_storage.h"
00041 #include <moveit_msgs/PlanningScene.h>
00042 #include <moveit_msgs/MotionPlanRequest.h>
00043 #include <moveit_msgs/RobotTrajectory.h>
00044 
00045 namespace moveit_warehouse
00046 {
00047 
00048 typedef mongo_ros::MessageWithMetadata<moveit_msgs::PlanningScene>::ConstPtr PlanningSceneWithMetadata;
00049 typedef mongo_ros::MessageWithMetadata<moveit_msgs::MotionPlanRequest>::ConstPtr MotionPlanRequestWithMetadata;
00050 typedef mongo_ros::MessageWithMetadata<moveit_msgs::RobotTrajectory>::ConstPtr RobotTrajectoryWithMetadata;
00051 
00052 typedef boost::shared_ptr<mongo_ros::MessageCollection<moveit_msgs::PlanningScene> > PlanningSceneCollection;
00053 typedef boost::shared_ptr<mongo_ros::MessageCollection<moveit_msgs::MotionPlanRequest> > MotionPlanRequestCollection;
00054 typedef boost::shared_ptr<mongo_ros::MessageCollection<moveit_msgs::RobotTrajectory> > RobotTrajectoryCollection;
00055 
00056 class PlanningSceneStorage : public MoveItMessageStorage
00057 {
00058 public:
00059 
00060   static const std::string DATABASE_NAME;
00061 
00062   static const std::string PLANNING_SCENE_ID_NAME;
00063   static const std::string MOTION_PLAN_REQUEST_ID_NAME;
00064 
00070   PlanningSceneStorage(const std::string &host = "", const unsigned int port = 0, double wait_seconds = 5.0);
00071 
00072   void addPlanningScene(const moveit_msgs::PlanningScene &scene);
00073   void addPlanningQuery(const moveit_msgs::MotionPlanRequest &planning_query, const std::string &scene_name, const std::string &query_name = "");
00074   void addPlanningResult(const moveit_msgs::MotionPlanRequest &planning_query, const moveit_msgs::RobotTrajectory &result, const std::string &scene_name);
00075 
00076   bool hasPlanningScene(const std::string &name) const;
00077   void getPlanningSceneNames(std::vector<std::string> &names) const;
00078   void getPlanningSceneNames(const std::string &regex, std::vector<std::string> &names) const;
00079 
00081   bool getPlanningScene(PlanningSceneWithMetadata &scene_m, const std::string &scene_name) const;
00082   bool getPlanningSceneWorld(moveit_msgs::PlanningSceneWorld &world, const std::string &scene_name) const;
00083 
00084   bool hasPlanningQuery(const std::string &scene_name, const std::string &query_name) const;
00085   bool getPlanningQuery(MotionPlanRequestWithMetadata &query_m, const std::string &scene_name, const std::string &query_name);
00086   void getPlanningQueries(std::vector<MotionPlanRequestWithMetadata> &planning_queries, const std::string &scene_name) const;
00087   void getPlanningQueriesNames(std::vector<std::string> &query_names, const std::string &scene_name) const;
00088   void getPlanningQueriesNames(const std::string &regex, std::vector<std::string> &query_names, const std::string &scene_name) const;
00089   void getPlanningQueries(std::vector<MotionPlanRequestWithMetadata> &planning_queries, std::vector<std::string> &query_names, const std::string &scene_name) const;
00090 
00091   void getPlanningResults(std::vector<RobotTrajectoryWithMetadata> &planning_results, const std::string &scene_name, const moveit_msgs::MotionPlanRequest &planning_query) const;
00092   void getPlanningResults(std::vector<RobotTrajectoryWithMetadata> &planning_results, const std::string &scene_name, const std::string &query_name) const;
00093 
00094   void renamePlanningScene(const std::string &old_scene_name, const std::string &new_scene_name);
00095   void renamePlanningQuery(const std::string &scene_name, const std::string &old_query_name, const std::string &new_query_name);
00096 
00097   void removePlanningScene(const std::string &scene_name);
00098   void removePlanningQuery(const std::string &scene_name, const std::string &query_name);
00099   void removePlanningQueries(const std::string &scene_name);
00100   void removePlanningResults(const std::string &scene_name);
00101   void removePlanningResults(const std::string &scene_name, const std::string &query_name);
00102 
00103   void reset();
00104 
00105 private:
00106 
00107   void createCollections();
00108 
00109   std::string getMotionPlanRequestName(const moveit_msgs::MotionPlanRequest &planning_query, const std::string &scene_name) const;
00110   std::string addNewPlanningRequest(const moveit_msgs::MotionPlanRequest &planning_query, const std::string &scene_name, const std::string &query_name);
00111 
00112   PlanningSceneCollection     planning_scene_collection_;
00113   MotionPlanRequestCollection motion_plan_request_collection_;
00114   RobotTrajectoryCollection   robot_trajectory_collection_;
00115 };
00116 }
00117 
00118 #endif


warehouse
Author(s): Ioan Sucan
autogenerated on Mon Oct 6 2014 02:32:09