planning_scene_storage.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_MOVEIT_WAREHOUSE_PLANNING_SCENE_STORAGE_
00038 #define MOVEIT_MOVEIT_WAREHOUSE_PLANNING_SCENE_STORAGE_
00039 
00040 #include "moveit/warehouse/moveit_message_storage.h"
00041 #include <moveit/macros/class_forward.h>
00042 #include <moveit_msgs/PlanningScene.h>
00043 #include <moveit_msgs/MotionPlanRequest.h>
00044 #include <moveit_msgs/RobotTrajectory.h>
00045 
00046 namespace moveit_warehouse
00047 {
00048 typedef mongo_ros::MessageWithMetadata<moveit_msgs::PlanningScene>::ConstPtr PlanningSceneWithMetadata;
00049 typedef mongo_ros::MessageWithMetadata<moveit_msgs::MotionPlanRequest>::ConstPtr MotionPlanRequestWithMetadata;
00050 typedef mongo_ros::MessageWithMetadata<moveit_msgs::RobotTrajectory>::ConstPtr RobotTrajectoryWithMetadata;
00051 
00052 typedef boost::shared_ptr<mongo_ros::MessageCollection<moveit_msgs::PlanningScene> > PlanningSceneCollection;
00053 typedef boost::shared_ptr<mongo_ros::MessageCollection<moveit_msgs::MotionPlanRequest> > MotionPlanRequestCollection;
00054 typedef boost::shared_ptr<mongo_ros::MessageCollection<moveit_msgs::RobotTrajectory> > RobotTrajectoryCollection;
00055 
00056 MOVEIT_CLASS_FORWARD(PlanningSceneStorage);
00057 
00058 class PlanningSceneStorage : public MoveItMessageStorage
00059 {
00060 public:
00061   static const std::string DATABASE_NAME;
00062 
00063   static const std::string PLANNING_SCENE_ID_NAME;
00064   static const std::string MOTION_PLAN_REQUEST_ID_NAME;
00065 
00073   PlanningSceneStorage(const std::string& host = "", const unsigned int port = 0, double wait_seconds = 5.0);
00074 
00075   void addPlanningScene(const moveit_msgs::PlanningScene& scene);
00076   void addPlanningQuery(const moveit_msgs::MotionPlanRequest& planning_query, const std::string& scene_name,
00077                         const std::string& query_name = "");
00078   void addPlanningResult(const moveit_msgs::MotionPlanRequest& planning_query,
00079                          const moveit_msgs::RobotTrajectory& result, const std::string& scene_name);
00080 
00081   bool hasPlanningScene(const std::string& name) const;
00082   void getPlanningSceneNames(std::vector<std::string>& names) const;
00083   void getPlanningSceneNames(const std::string& regex, std::vector<std::string>& names) const;
00084 
00086   bool getPlanningScene(PlanningSceneWithMetadata& scene_m, const std::string& scene_name) const;
00087   bool getPlanningSceneWorld(moveit_msgs::PlanningSceneWorld& world, const std::string& scene_name) const;
00088 
00089   bool hasPlanningQuery(const std::string& scene_name, const std::string& query_name) const;
00090   bool getPlanningQuery(MotionPlanRequestWithMetadata& query_m, const std::string& scene_name,
00091                         const std::string& query_name);
00092   void getPlanningQueries(std::vector<MotionPlanRequestWithMetadata>& planning_queries,
00093                           const std::string& scene_name) const;
00094   void getPlanningQueriesNames(std::vector<std::string>& query_names, const std::string& scene_name) const;
00095   void getPlanningQueriesNames(const std::string& regex, std::vector<std::string>& query_names,
00096                                const std::string& scene_name) const;
00097   void getPlanningQueries(std::vector<MotionPlanRequestWithMetadata>& planning_queries,
00098                           std::vector<std::string>& query_names, const std::string& scene_name) const;
00099 
00100   void getPlanningResults(std::vector<RobotTrajectoryWithMetadata>& planning_results, const std::string& scene_name,
00101                           const moveit_msgs::MotionPlanRequest& planning_query) const;
00102   void getPlanningResults(std::vector<RobotTrajectoryWithMetadata>& planning_results, const std::string& scene_name,
00103                           const std::string& query_name) const;
00104 
00105   void renamePlanningScene(const std::string& old_scene_name, const std::string& new_scene_name);
00106   void renamePlanningQuery(const std::string& scene_name, const std::string& old_query_name,
00107                            const std::string& new_query_name);
00108 
00109   void removePlanningScene(const std::string& scene_name);
00110   void removePlanningQuery(const std::string& scene_name, const std::string& query_name);
00111   void removePlanningQueries(const std::string& scene_name);
00112   void removePlanningResults(const std::string& scene_name);
00113   void removePlanningResults(const std::string& scene_name, const std::string& query_name);
00114 
00115   void reset();
00116 
00117 private:
00118   void createCollections();
00119 
00120   std::string getMotionPlanRequestName(const moveit_msgs::MotionPlanRequest& planning_query,
00121                                        const std::string& scene_name) const;
00122   std::string addNewPlanningRequest(const moveit_msgs::MotionPlanRequest& planning_query, const std::string& scene_name,
00123                                     const std::string& query_name);
00124 
00125   PlanningSceneCollection planning_scene_collection_;
00126   MotionPlanRequestCollection motion_plan_request_collection_;
00127   RobotTrajectoryCollection robot_trajectory_collection_;
00128 };
00129 }
00130 
00131 #endif


warehouse
Author(s): Ioan Sucan
autogenerated on Mon Apr 23 2018 10:25:48