trajectory_constraints_storage.h
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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 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


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