trajectory_constraints_storage.h

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/* Author: Mario Prats, Ioan Sucan */

#ifndef MOVEIT_MOVEIT_WAREHOUSE_TRAJECTORY_CONSTRAINTS_STORAGE_
#define MOVEIT_MOVEIT_WAREHOUSE_TRAJECTORY_CONSTRAINTS_STORAGE_

#include "moveit/warehouse/moveit_message_storage.h"
#include <moveit_msgs/TrajectoryConstraints.h>

namespace moveit_warehouse
{

typedef mongo_ros::MessageWithMetadata<moveit_msgs::TrajectoryConstraints>::ConstPtr TrajectoryConstraintsWithMetadata;
typedef boost::shared_ptr<mongo_ros::MessageCollection<moveit_msgs::TrajectoryConstraints> > TrajectoryConstraintsCollection;

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

  void addTrajectoryConstraints(const moveit_msgs::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(void);

private:

  void createCollections(void);

  TrajectoryConstraintsCollection constraints_collection_;

};
}

#endif