#include <trajectory_constraints_storage.h>

Inheritance diagram for moveit_warehouse::TrajectoryConstraintsStorage:

Public Member Functions
void	addTrajectoryConstraints (const moveit_msgs::TrajectoryConstraints &msg, const std::string &name, const std::string &robot="", const std::string &group="")
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
	Get the constraints named name. Return false on failure.
bool	hasTrajectoryConstraints (const std::string &name, const std::string &robot="", const std::string &group="") const
void	removeTrajectoryConstraints (const std::string &name, const std::string &robot="", const std::string &group="")
void	renameTrajectoryConstraints (const std::string &old_name, const std::string &new_name, const std::string &robot="", const std::string &group="")
void	reset (void)
	TrajectoryConstraintsStorage (const std::string &host="", const unsigned int port=0, double wait_seconds=5.0)
	Initialize the trajectory constraints storage to connect to a specified host and port for the MongoDB. If defaults are used for the parameters (empty host name, 0 port), the constructor looks for ROS params specifying which host/port to use. NodeHandle::searchParam() is used starting from ~ to look for warehouse_port and warehouse_host. If no values are found, the defaults are left to be the ones MongoDB uses. If wait_seconds is above 0, then a maximum number of seconds can elapse until connection is successful, or a runtime exception is thrown.
Static Public Attributes
static const std::string	CONSTRAINTS_GROUP_NAME = "group_id"
static const std::string	CONSTRAINTS_ID_NAME = "constraints_id"
static const std::string	DATABASE_NAME = "moveit_trajectory_constraints"
static const std::string	ROBOT_NAME = "robot_id"
Private Member Functions
void	createCollections (void)
Private Attributes
TrajectoryConstraintsCollection	constraints_collection_

Detailed Description

Definition at line 49 of file trajectory_constraints_storage.h.

Constructor & Destructor Documentation

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

Initialize the trajectory constraints storage to connect to a specified host and port for the MongoDB. If defaults are used for the parameters (empty host name, 0 port), the constructor looks for ROS params specifying which host/port to use. NodeHandle::searchParam() is used starting from ~ to look for warehouse_port and warehouse_host. If no values are found, the defaults are left to be the ones MongoDB uses. If wait_seconds is above 0, then a maximum number of seconds can elapse until connection is successful, or a runtime exception is thrown.

Definition at line 45 of file trajectory_constraints_storage.cpp.

Member Function Documentation

void moveit_warehouse::TrajectoryConstraintsStorage::addTrajectoryConstraints	(	const moveit_msgs::TrajectoryConstraints &	msg,
		const std::string &	name,
		const std::string &	robot = `""`,
		const std::string &	group = `""`
	)

Definition at line 64 of file trajectory_constraints_storage.cpp.

void moveit_warehouse::TrajectoryConstraintsStorage::createCollections ( void ) [private]

Definition at line 52 of file trajectory_constraints_storage.cpp.

void moveit_warehouse::TrajectoryConstraintsStorage::getKnownTrajectoryConstraints	(	std::vector< std::string > &	names,
		const std::string &	robot = `""`,
		const std::string &	group = `""`
	)		const

Definition at line 97 of file trajectory_constraints_storage.cpp.

void moveit_warehouse::TrajectoryConstraintsStorage::getKnownTrajectoryConstraints	(	const std::string &	regex,
		std::vector< std::string > &	names,
		const std::string &	robot = `""`,
		const std::string &	group = `""`
	)		const

Definition at line 91 of file trajectory_constraints_storage.cpp.

bool moveit_warehouse::TrajectoryConstraintsStorage::getTrajectoryConstraints	(	TrajectoryConstraintsWithMetadata &	msg_m,
		const std::string &	name,
		const std::string &	robot = `""`,
		const std::string &	group = `""`
	)		const

Get the constraints named name. Return false on failure.

Definition at line 111 of file trajectory_constraints_storage.cpp.

bool moveit_warehouse::TrajectoryConstraintsStorage::hasTrajectoryConstraints	(	const std::string &	name,
		const std::string &	robot = `""`,
		const std::string &	group = `""`
	)		const

Definition at line 79 of file trajectory_constraints_storage.cpp.

void moveit_warehouse::TrajectoryConstraintsStorage::removeTrajectoryConstraints	(	const std::string &	name,
		const std::string &	robot = `""`,
		const std::string &	group = `""`
	)

Definition at line 140 of file trajectory_constraints_storage.cpp.

void moveit_warehouse::TrajectoryConstraintsStorage::renameTrajectoryConstraints	(	const std::string &	old_name,
		const std::string &	new_name,
		const std::string &	robot = `""`,
		const std::string &	group = `""`
	)