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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 warehouse_ros::MessageWithMetadata<moveit_msgs::TrajectoryConstraints>::ConstPtr
00047 TrajectoryConstraintsWithMetadata;
00048 typedef warehouse_ros::MessageCollection<moveit_msgs::TrajectoryConstraints>::Ptr 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
00061 TrajectoryConstraintsStorage(warehouse_ros::DatabaseConnection::Ptr conn);
00062
00063 void addTrajectoryConstraints(const moveit_msgs::TrajectoryConstraints& msg, const std::string& name,
00064 const std::string& robot = "", const std::string& group = "");
00065 bool hasTrajectoryConstraints(const std::string& name, const std::string& robot = "",
00066 const std::string& group = "") const;
00067 void getKnownTrajectoryConstraints(std::vector<std::string>& names, const std::string& robot = "",
00068 const std::string& group = "") const;
00069 void getKnownTrajectoryConstraints(const std::string& regex, std::vector<std::string>& names,
00070 const std::string& robot = "", const std::string& group = "") const;
00071
00073 bool getTrajectoryConstraints(TrajectoryConstraintsWithMetadata& msg_m, const std::string& name,
00074 const std::string& robot = "", const std::string& group = "") const;
00075
00076 void renameTrajectoryConstraints(const std::string& old_name, const std::string& new_name,
00077 const std::string& robot = "", const std::string& group = "");
00078
00079 void removeTrajectoryConstraints(const std::string& name, const std::string& robot = "",
00080 const std::string& group = "");
00081
00082 void reset(void);
00083
00084 private:
00085 void createCollections(void);
00086
00087 TrajectoryConstraintsCollection constraints_collection_;
00088 };
00089 }
00090
00091 #endif