state_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_STATE_STORAGE_
00038 #define MOVEIT_MOVEIT_WAREHOUSE_STATE_STORAGE_
00039 
00040 #include <moveit/warehouse/moveit_message_storage.h>
00041 #include <moveit_msgs/RobotState.h>
00042 
00043 namespace moveit_warehouse
00044 {
00045 
00046 typedef mongo_ros::MessageWithMetadata<moveit_msgs::RobotState>::ConstPtr RobotStateWithMetadata;
00047 typedef boost::shared_ptr<mongo_ros::MessageCollection<moveit_msgs::RobotState> > RobotStateCollection;
00048 
00049 class RobotStateStorage : public MoveItMessageStorage
00050 {
00051 public:
00052 
00053   static const std::string DATABASE_NAME;
00054 
00055   static const std::string STATE_NAME;
00056   static const std::string ROBOT_NAME;
00057 
00063   RobotStateStorage(const std::string &host = "", const unsigned int port = 0, double wait_seconds = 5.0);
00064 
00065   void addRobotState(const moveit_msgs::RobotState &msg, const std::string &name, const std::string &robot = "");
00066   bool hasRobotState(const std::string &name, const std::string &robot = "") const;
00067   void getKnownRobotStates(std::vector<std::string> &names, const std::string &robot = "") const;
00068   void getKnownRobotStates(const std::string &regex, std::vector<std::string> &names, const std::string &robot = "") const;
00069 
00071   bool getRobotState(RobotStateWithMetadata &msg_m, const std::string &name, const std::string &robot = "") const;
00072 
00073   void renameRobotState(const std::string &old_name, const std::string &new_name, const std::string &robot = "");
00074 
00075   void removeRobotState(const std::string &name, const std::string &robot = "");
00076 
00077   void reset();
00078 
00079 private:
00080 
00081   void createCollections();
00082 
00083   RobotStateCollection state_collection_;
00084 
00085 };
00086 }
00087 
00088 #endif


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