state_storage.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_MOVEIT_WAREHOUSE_STATE_STORAGE_
#define MOVEIT_MOVEIT_WAREHOUSE_STATE_STORAGE_

#include <moveit/warehouse/moveit_message_storage.h>
#include <moveit_msgs/RobotState.h>

namespace moveit_warehouse
{

typedef mongo_ros::MessageWithMetadata<moveit_msgs::RobotState>::ConstPtr RobotStateWithMetadata;
typedef boost::shared_ptr<mongo_ros::MessageCollection<moveit_msgs::RobotState> > RobotStateCollection;

class RobotStateStorage : public MoveItMessageStorage
{
public:

  static const std::string DATABASE_NAME;

  static const std::string STATE_NAME;
  static const std::string ROBOT_NAME;

  RobotStateStorage(const std::string &host = "", const unsigned int port = 0, double wait_seconds = 5.0);

  void addRobotState(const moveit_msgs::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_;

};
}

#endif