state_storage.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_MOVEIT_WAREHOUSE_STATE_STORAGE_
00038 #define MOVEIT_MOVEIT_WAREHOUSE_STATE_STORAGE_
00039 
00040 #include <moveit/warehouse/moveit_message_storage.h>
00041 #include <moveit/macros/class_forward.h>
00042 #include <moveit_msgs/RobotState.h>
00043 
00044 namespace moveit_warehouse
00045 {
00046 typedef mongo_ros::MessageWithMetadata<moveit_msgs::RobotState>::ConstPtr RobotStateWithMetadata;
00047 typedef boost::shared_ptr<mongo_ros::MessageCollection<moveit_msgs::RobotState> > RobotStateCollection;
00048 
00049 MOVEIT_CLASS_FORWARD(RobotStateStorage);
00050 
00051 class RobotStateStorage : public MoveItMessageStorage
00052 {
00053 public:
00054   static const std::string DATABASE_NAME;
00055 
00056   static const std::string STATE_NAME;
00057   static const std::string ROBOT_NAME;
00058 
00066   RobotStateStorage(const std::string& host = "", const unsigned int port = 0, double wait_seconds = 5.0);
00067 
00068   void addRobotState(const moveit_msgs::RobotState& msg, const std::string& name, const std::string& robot = "");
00069   bool hasRobotState(const std::string& name, const std::string& robot = "") const;
00070   void getKnownRobotStates(std::vector<std::string>& names, const std::string& robot = "") const;
00071   void getKnownRobotStates(const std::string& regex, std::vector<std::string>& names,
00072                            const std::string& robot = "") const;
00073 
00075   bool getRobotState(RobotStateWithMetadata& msg_m, const std::string& name, const std::string& robot = "") const;
00076 
00077   void renameRobotState(const std::string& old_name, const std::string& new_name, const std::string& robot = "");
00078 
00079   void removeRobotState(const std::string& name, const std::string& robot = "");
00080 
00081   void reset();
00082 
00083 private:
00084   void createCollections();
00085 
00086   RobotStateCollection state_collection_;
00087 };
00088 }
00089 
00090 #endif


warehouse
Author(s): Ioan Sucan
autogenerated on Fri Oct 26 2018 02:27:04