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 warehouse_ros::MessageWithMetadata<moveit_msgs::PlanningScene>::ConstPtr PlanningSceneWithMetadata;
00049 typedef warehouse_ros::MessageWithMetadata<moveit_msgs::MotionPlanRequest>::ConstPtr MotionPlanRequestWithMetadata;
00050 typedef warehouse_ros::MessageWithMetadata<moveit_msgs::RobotTrajectory>::ConstPtr RobotTrajectoryWithMetadata;
00051 
00052 typedef warehouse_ros::MessageCollection<moveit_msgs::PlanningScene>::Ptr PlanningSceneCollection;
00053 typedef warehouse_ros::MessageCollection<moveit_msgs::MotionPlanRequest>::Ptr MotionPlanRequestCollection;
00054 typedef warehouse_ros::MessageCollection<moveit_msgs::RobotTrajectory>::Ptr 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 
00066   PlanningSceneStorage(warehouse_ros::DatabaseConnection::Ptr conn);
00067 
00068   void addPlanningScene(const moveit_msgs::PlanningScene& scene);
00069   void addPlanningQuery(const moveit_msgs::MotionPlanRequest& planning_query, const std::string& scene_name,
00070                         const std::string& query_name = "");
00071   void addPlanningResult(const moveit_msgs::MotionPlanRequest& planning_query,
00072                          const moveit_msgs::RobotTrajectory& result, const std::string& scene_name);
00073 
00074   bool hasPlanningScene(const std::string& name) const;
00075   void getPlanningSceneNames(std::vector<std::string>& names) const;
00076   void getPlanningSceneNames(const std::string& regex, std::vector<std::string>& names) const;
00077 
00079   bool getPlanningScene(PlanningSceneWithMetadata& scene_m, const std::string& scene_name) const;
00080   bool getPlanningSceneWorld(moveit_msgs::PlanningSceneWorld& world, const std::string& scene_name) const;
00081 
00082   bool hasPlanningQuery(const std::string& scene_name, const std::string& query_name) const;
00083   bool getPlanningQuery(MotionPlanRequestWithMetadata& query_m, const std::string& scene_name,
00084                         const std::string& query_name);
00085   void getPlanningQueries(std::vector<MotionPlanRequestWithMetadata>& planning_queries,
00086                           const std::string& scene_name) const;
00087   void getPlanningQueriesNames(std::vector<std::string>& query_names, const std::string& scene_name) const;
00088   void getPlanningQueriesNames(const std::string& regex, std::vector<std::string>& query_names,
00089                                const std::string& scene_name) const;
00090   void getPlanningQueries(std::vector<MotionPlanRequestWithMetadata>& planning_queries,
00091                           std::vector<std::string>& query_names, const std::string& scene_name) const;
00092 
00093   void getPlanningResults(std::vector<RobotTrajectoryWithMetadata>& planning_results, const std::string& scene_name,
00094                           const moveit_msgs::MotionPlanRequest& planning_query) const;
00095   void getPlanningResults(std::vector<RobotTrajectoryWithMetadata>& planning_results, const std::string& scene_name,
00096                           const std::string& query_name) const;
00097 
00098   void renamePlanningScene(const std::string& old_scene_name, const std::string& new_scene_name);
00099   void renamePlanningQuery(const std::string& scene_name, const std::string& old_query_name,
00100                            const std::string& new_query_name);
00101 
00102   void removePlanningScene(const std::string& scene_name);
00103   void removePlanningQuery(const std::string& scene_name, const std::string& query_name);
00104   void removePlanningQueries(const std::string& scene_name);
00105   void removePlanningResults(const std::string& scene_name);
00106   void removePlanningResults(const std::string& scene_name, const std::string& query_name);
00107 
00108   void reset();
00109 
00110 private:
00111   void createCollections();
00112 
00113   std::string getMotionPlanRequestName(const moveit_msgs::MotionPlanRequest& planning_query,
00114                                        const std::string& scene_name) const;
00115   std::string addNewPlanningRequest(const moveit_msgs::MotionPlanRequest& planning_query, const std::string& scene_name,
00116                                     const std::string& query_name);
00117 
00118   PlanningSceneCollection planning_scene_collection_;
00119   MotionPlanRequestCollection motion_plan_request_collection_;
00120   RobotTrajectoryCollection robot_trajectory_collection_;
00121 };
00122 }
00123 
00124 #endif


warehouse
Author(s): Ioan Sucan
autogenerated on Mon Jul 24 2017 02:21:59