planning_scene_world_storage.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_MOVEIT_WAREHOUSE_PLANNING_SCENE_WORLD_STORAGE_
00038 #define MOVEIT_MOVEIT_WAREHOUSE_PLANNING_SCENE_WORLD_STORAGE_
00039 
00040 #include <moveit/warehouse/moveit_message_storage.h>
00041 #include <moveit_msgs/PlanningSceneWorld.h>
00042 
00043 namespace moveit_warehouse
00044 {
00045 typedef mongo_ros::MessageWithMetadata<moveit_msgs::PlanningSceneWorld>::ConstPtr PlanningSceneWorldWithMetadata;
00046 typedef boost::shared_ptr<mongo_ros::MessageCollection<moveit_msgs::PlanningSceneWorld> > PlanningSceneWorldCollection;
00047 
00048 class PlanningSceneWorldStorage : public MoveItMessageStorage
00049 {
00050 public:
00051   static const std::string DATABASE_NAME;
00052   static const std::string PLANNING_SCENE_WORLD_ID_NAME;
00053 
00061   PlanningSceneWorldStorage(const std::string& host = "", const unsigned int port = 0, double wait_seconds = 5.0);
00062 
00063   void addPlanningSceneWorld(const moveit_msgs::PlanningSceneWorld& msg, const std::string& name);
00064   bool hasPlanningSceneWorld(const std::string& name) const;
00065   void getKnownPlanningSceneWorlds(std::vector<std::string>& names) const;
00066   void getKnownPlanningSceneWorlds(const std::string& regex, std::vector<std::string>& names) const;
00067 
00069   bool getPlanningSceneWorld(PlanningSceneWorldWithMetadata& msg_m, const std::string& name) const;
00070 
00071   void renamePlanningSceneWorld(const std::string& old_name, const std::string& new_name);
00072 
00073   void removePlanningSceneWorld(const std::string& name);
00074 
00075   void reset();
00076 
00077 private:
00078   void createCollections();
00079 
00080   PlanningSceneWorldCollection planning_scene_world_collection_;
00081 };
00082 }
00083 
00084 #endif


warehouse
Author(s): Ioan Sucan
autogenerated on Fri Apr 20 2018 03:32:11