trajectory_constraints_storage.h
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00034 
00035 /* Author: Mario Prats, Ioan Sucan */
00036 
00037 #ifndef MOVEIT_MOVEIT_WAREHOUSE_TRAJECTORY_CONSTRAINTS_STORAGE_
00038 #define MOVEIT_MOVEIT_WAREHOUSE_TRAJECTORY_CONSTRAINTS_STORAGE_
00039 
00040 #include "moveit/warehouse/moveit_message_storage.h"
00041 #include <moveit_msgs/TrajectoryConstraints.h>
00042 
00043 namespace moveit_warehouse
00044 {
00045 
00046 typedef mongo_ros::MessageWithMetadata<moveit_msgs::TrajectoryConstraints>::ConstPtr TrajectoryConstraintsWithMetadata;
00047 typedef boost::shared_ptr<mongo_ros::MessageCollection<moveit_msgs::TrajectoryConstraints> > TrajectoryConstraintsCollection;
00048 
00049 class TrajectoryConstraintsStorage : public MoveItMessageStorage
00050 {
00051 public:
00052 
00053   static const std::string DATABASE_NAME;
00054 
00055   static const std::string CONSTRAINTS_ID_NAME;
00056   static const std::string CONSTRAINTS_GROUP_NAME;
00057   static const std::string ROBOT_NAME;
00058 
00059 
00065   TrajectoryConstraintsStorage(const std::string &host = "", const unsigned int port = 0, double wait_seconds = 5.0);
00066 
00067   void addTrajectoryConstraints(const moveit_msgs::TrajectoryConstraints &msg, const std::string &name, const std::string &robot = "", const std::string &group = "");
00068   bool hasTrajectoryConstraints(const std::string &name, const std::string &robot = "", const std::string &group = "") const;
00069   void getKnownTrajectoryConstraints(std::vector<std::string> &names, const std::string &robot = "", const std::string &group = "") const;
00070   void getKnownTrajectoryConstraints(const std::string &regex, std::vector<std::string> &names, const std::string &robot = "", const std::string &group = "") const;
00071 
00073   bool getTrajectoryConstraints(TrajectoryConstraintsWithMetadata &msg_m, const std::string &name, const std::string &robot = "", const std::string &group = "") const;
00074 
00075   void renameTrajectoryConstraints(const std::string &old_name, const std::string &new_name, const std::string &robot = "", const std::string &group = "");
00076 
00077   void removeTrajectoryConstraints(const std::string &name, const std::string &robot = "", const std::string &group = "");
00078 
00079   void reset(void);
00080 
00081 private:
00082 
00083   void createCollections(void);
00084 
00085   TrajectoryConstraintsCollection constraints_collection_;
00086 
00087 };
00088 }
00089 
00090 #endif


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