warehouse: trajectory_constraints

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00034 
00035 /* Author: Mario Prats, Ioan Sucan */
00036 
00037 #ifndef MOVEIT_MOVEIT_WAREHOUSE_TRAJECTORY_CONSTRAINTS_STORAGE_
00038 #define MOVEIT_MOVEIT_WAREHOUSE_TRAJECTORY_CONSTRAINTS_STORAGE_
00039 
00040 #include "moveit/warehouse/moveit_message_storage.h"
00041 #include <moveit/macros/class_forward.h>
00042 #include <moveit_msgs/TrajectoryConstraints.h>
00043 
00044 namespace moveit_warehouse
00045 {
00046 typedef mongo_ros::MessageWithMetadata<moveit_msgs::TrajectoryConstraints>::ConstPtr TrajectoryConstraintsWithMetadata;
00047 typedef boost::shared_ptr<mongo_ros::MessageCollection<moveit_msgs::TrajectoryConstraints> >
00048     TrajectoryConstraintsCollection;
00049 
00050 MOVEIT_CLASS_FORWARD(TrajectoryConstraintsStorage);
00051 
00052 class TrajectoryConstraintsStorage : public MoveItMessageStorage
00053 {
00054 public:
00055   static const std::string DATABASE_NAME;
00056 
00057   static const std::string CONSTRAINTS_ID_NAME;
00058   static const std::string CONSTRAINTS_GROUP_NAME;
00059   static const std::string ROBOT_NAME;
00060 
00069   TrajectoryConstraintsStorage(const std::string& host = "", const unsigned int port = 0, double wait_seconds = 5.0);
00070 
00071   void addTrajectoryConstraints(const moveit_msgs::TrajectoryConstraints& msg, const std::string& name,
00072                                 const std::string& robot = "", const std::string& group = "");
00073   bool hasTrajectoryConstraints(const std::string& name, const std::string& robot = "",
00074                                 const std::string& group = "") const;
00075   void getKnownTrajectoryConstraints(std::vector<std::string>& names, const std::string& robot = "",
00076                                      const std::string& group = "") const;
00077   void getKnownTrajectoryConstraints(const std::string& regex, std::vector<std::string>& names,
00078                                      const std::string& robot = "", const std::string& group = "") const;
00079 
00081   bool getTrajectoryConstraints(TrajectoryConstraintsWithMetadata& msg_m, const std::string& name,
00082                                 const std::string& robot = "", const std::string& group = "") const;
00083 
00084   void renameTrajectoryConstraints(const std::string& old_name, const std::string& new_name,
00085                                    const std::string& robot = "", const std::string& group = "");
00086 
00087   void removeTrajectoryConstraints(const std::string& name, const std::string& robot = "",
00088                                    const std::string& group = "");
00089 
00090   void reset(void);
00091 
00092 private:
00093   void createCollections(void);
00094 
00095   TrajectoryConstraintsCollection constraints_collection_;
00096 };
00097 }
00098 
00099 #endif