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00037 #ifndef MOVEIT_MOVEIT_WAREHOUSE_CONSTRAINTS_STORAGE_
00038 #define MOVEIT_MOVEIT_WAREHOUSE_CONSTRAINTS_STORAGE_
00039
00040 #include "moveit/warehouse/moveit_message_storage.h"
00041 #include <moveit_msgs/Constraints.h>
00042
00043 namespace moveit_warehouse
00044 {
00045
00046 typedef mongo_ros::MessageWithMetadata<moveit_msgs::Constraints>::ConstPtr ConstraintsWithMetadata;
00047 typedef boost::shared_ptr<mongo_ros::MessageCollection<moveit_msgs::Constraints> > ConstraintsCollection;
00048
00049 class ConstraintsStorage : 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 ConstraintsStorage(const std::string &host = "", const unsigned int port = 0, double wait_seconds = 5.0);
00066
00067 void addConstraints(const moveit_msgs::Constraints &msg, const std::string &robot = "", const std::string &group = "");
00068 bool hasConstraints(const std::string &name, const std::string &robot = "", const std::string &group = "") const;
00069 void getKnownConstraints(std::vector<std::string> &names, const std::string &robot = "", const std::string &group = "") const;
00070 void getKnownConstraints(const std::string ®ex, std::vector<std::string> &names, const std::string &robot = "", const std::string &group = "") const;
00071
00073 bool getConstraints(ConstraintsWithMetadata &msg_m, const std::string &name, const std::string &robot = "", const std::string &group = "") const;
00074
00075 void renameConstraints(const std::string &old_name, const std::string &new_name, const std::string &robot = "", const std::string &group = "");
00076
00077 void removeConstraints(const std::string &name, const std::string &robot = "", const std::string &group = "");
00078
00079 void reset();
00080
00081 private:
00082
00083 void createCollections();
00084
00085 ConstraintsCollection constraints_collection_;
00086
00087 };
00088 }
00089
00090 #endif