Public Member Functions | Static Public Attributes | Private Member Functions | Private Attributes
moveit_warehouse::PlanningSceneStorage Class Reference

#include <planning_scene_storage.h>

Inheritance diagram for moveit_warehouse::PlanningSceneStorage:
Inheritance graph
[legend]

List of all members.

Public Member Functions

void addPlanningQuery (const moveit_msgs::MotionPlanRequest &planning_query, const std::string &scene_name, const std::string &query_name="")
void addPlanningResult (const moveit_msgs::MotionPlanRequest &planning_query, const moveit_msgs::RobotTrajectory &result, const std::string &scene_name)
void addPlanningScene (const moveit_msgs::PlanningScene &scene)
void getPlanningQueries (std::vector< MotionPlanRequestWithMetadata > &planning_queries, const std::string &scene_name) const
void getPlanningQueries (std::vector< MotionPlanRequestWithMetadata > &planning_queries, std::vector< std::string > &query_names, const std::string &scene_name) const
void getPlanningQueriesNames (std::vector< std::string > &query_names, const std::string &scene_name) const
void getPlanningQueriesNames (const std::string &regex, std::vector< std::string > &query_names, const std::string &scene_name) const
bool getPlanningQuery (MotionPlanRequestWithMetadata &query_m, const std::string &scene_name, const std::string &query_name)
void getPlanningResults (std::vector< RobotTrajectoryWithMetadata > &planning_results, const std::string &scene_name, const moveit_msgs::MotionPlanRequest &planning_query) const
void getPlanningResults (std::vector< RobotTrajectoryWithMetadata > &planning_results, const std::string &scene_name, const std::string &query_name) const
bool getPlanningScene (PlanningSceneWithMetadata &scene_m, const std::string &scene_name) const
 Get the latest planning scene named scene_name.
void getPlanningSceneNames (std::vector< std::string > &names) const
void getPlanningSceneNames (const std::string &regex, std::vector< std::string > &names) const
bool getPlanningSceneWorld (moveit_msgs::PlanningSceneWorld &world, const std::string &scene_name) const
bool hasPlanningQuery (const std::string &scene_name, const std::string &query_name) const
bool hasPlanningScene (const std::string &name) const
 PlanningSceneStorage (const std::string &host="", const unsigned int port=0, double wait_seconds=5.0)
 Initialize the planning scene 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.
void removePlanningQueries (const std::string &scene_name)
void removePlanningQuery (const std::string &scene_name, const std::string &query_name)
void removePlanningResults (const std::string &scene_name)
void removePlanningResults (const std::string &scene_name, const std::string &query_name)
void removePlanningScene (const std::string &scene_name)
void renamePlanningQuery (const std::string &scene_name, const std::string &old_query_name, const std::string &new_query_name)
void renamePlanningScene (const std::string &old_scene_name, const std::string &new_scene_name)
void reset ()

Static Public Attributes

static const std::string DATABASE_NAME = "moveit_planning_scenes"
static const std::string MOTION_PLAN_REQUEST_ID_NAME = "motion_request_id"
static const std::string PLANNING_SCENE_ID_NAME = "planning_scene_id"

Private Member Functions

std::string addNewPlanningRequest (const moveit_msgs::MotionPlanRequest &planning_query, const std::string &scene_name, const std::string &query_name)
void createCollections ()
std::string getMotionPlanRequestName (const moveit_msgs::MotionPlanRequest &planning_query, const std::string &scene_name) const

Private Attributes

MotionPlanRequestCollection motion_plan_request_collection_
PlanningSceneCollection planning_scene_collection_
RobotTrajectoryCollection robot_trajectory_collection_

Detailed Description

Definition at line 58 of file planning_scene_storage.h.


Constructor & Destructor Documentation

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

Initialize the planning scene 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 planning_scene_storage.cpp.


Member Function Documentation

std::string moveit_warehouse::PlanningSceneStorage::addNewPlanningRequest ( const moveit_msgs::MotionPlanRequest planning_query,
const std::string &  scene_name,
const std::string &  query_name 
) [private]

Definition at line 142 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::addPlanningQuery ( const moveit_msgs::MotionPlanRequest planning_query,
const std::string &  scene_name,
const std::string &  query_name = "" 
)

Definition at line 128 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::addPlanningResult ( const moveit_msgs::MotionPlanRequest planning_query,
const moveit_msgs::RobotTrajectory &  result,
const std::string &  scene_name 
)

Definition at line 167 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::addPlanningScene ( const moveit_msgs::PlanningScene &  scene)

Definition at line 72 of file planning_scene_storage.cpp.

Definition at line 53 of file planning_scene_storage.cpp.

std::string moveit_warehouse::PlanningSceneStorage::getMotionPlanRequestName ( const moveit_msgs::MotionPlanRequest planning_query,
const std::string &  scene_name 
) const [private]

Definition at line 92 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::getPlanningQueries ( std::vector< MotionPlanRequestWithMetadata > &  planning_queries,
const std::string &  scene_name 
) const

Definition at line 246 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::getPlanningQueries ( std::vector< MotionPlanRequestWithMetadata > &  planning_queries,
std::vector< std::string > &  query_names,
const std::string &  scene_name 
) const

Definition at line 287 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::getPlanningQueriesNames ( std::vector< std::string > &  query_names,
const std::string &  scene_name 
) const

Definition at line 253 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::getPlanningQueriesNames ( const std::string &  regex,
std::vector< std::string > &  query_names,
const std::string &  scene_name 
) const

Definition at line 265 of file planning_scene_storage.cpp.

bool moveit_warehouse::PlanningSceneStorage::getPlanningQuery ( MotionPlanRequestWithMetadata query_m,
const std::string &  scene_name,
const std::string &  query_name 
)

Definition at line 226 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::getPlanningResults ( std::vector< RobotTrajectoryWithMetadata > &  planning_results,
const std::string &  scene_name,
const moveit_msgs::MotionPlanRequest planning_query 
) const

Definition at line 301 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::getPlanningResults ( std::vector< RobotTrajectoryWithMetadata > &  planning_results,
const std::string &  scene_name,
const std::string &  query_name 
) const

Definition at line 312 of file planning_scene_storage.cpp.

bool moveit_warehouse::PlanningSceneStorage::getPlanningScene ( PlanningSceneWithMetadata scene_m,
const std::string &  scene_name 
) const

Get the latest planning scene named scene_name.

Definition at line 209 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::getPlanningSceneNames ( std::vector< std::string > &  names) const

Definition at line 178 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::getPlanningSceneNames ( const std::string &  regex,
std::vector< std::string > &  names 
) const

Definition at line 189 of file planning_scene_storage.cpp.

bool moveit_warehouse::PlanningSceneStorage::getPlanningSceneWorld ( moveit_msgs::PlanningSceneWorld &  world,
const std::string &  scene_name 
) const

Definition at line 196 of file planning_scene_storage.cpp.

bool moveit_warehouse::PlanningSceneStorage::hasPlanningQuery ( const std::string &  scene_name,
const std::string &  query_name 
) const

Definition at line 321 of file planning_scene_storage.cpp.

bool moveit_warehouse::PlanningSceneStorage::hasPlanningScene ( const std::string &  name) const

Definition at line 85 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::removePlanningQueries ( const std::string &  scene_name)

Definition at line 359 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::removePlanningQuery ( const std::string &  scene_name,
const std::string &  query_name 
)

Definition at line 367 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::removePlanningResults ( const std::string &  scene_name)

Definition at line 378 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::removePlanningResults ( const std::string &  scene_name,
const std::string &  query_name 
)

Definition at line 385 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::removePlanningScene ( const std::string &  scene_name)

Definition at line 351 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::renamePlanningQuery ( const std::string &  scene_name,
const std::string &  old_query_name,
const std::string &  new_query_name 
)

Definition at line 339 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::renamePlanningScene ( const std::string &  old_scene_name,
const std::string &  new_scene_name 
)

Definition at line 330 of file planning_scene_storage.cpp.

Definition at line 63 of file planning_scene_storage.cpp.


Member Data Documentation

const std::string moveit_warehouse::PlanningSceneStorage::DATABASE_NAME = "moveit_planning_scenes" [static]

Definition at line 61 of file planning_scene_storage.h.

Definition at line 126 of file planning_scene_storage.h.

const std::string moveit_warehouse::PlanningSceneStorage::MOTION_PLAN_REQUEST_ID_NAME = "motion_request_id" [static]

Definition at line 64 of file planning_scene_storage.h.

Definition at line 125 of file planning_scene_storage.h.

const std::string moveit_warehouse::PlanningSceneStorage::PLANNING_SCENE_ID_NAME = "planning_scene_id" [static]

Definition at line 63 of file planning_scene_storage.h.

Definition at line 127 of file planning_scene_storage.h.


The documentation for this class was generated from the following files:


warehouse
Author(s): Ioan Sucan
autogenerated on Wed Jan 17 2018 03:32:43