state_storage.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_MOVEIT_WAREHOUSE_STATE_STORAGE_
38 #define MOVEIT_MOVEIT_WAREHOUSE_STATE_STORAGE_
39 
42 #include <moveit_msgs/RobotState.h>
43 
44 namespace moveit_warehouse
45 {
48 
50 
52 {
53 public:
54  static const std::string DATABASE_NAME;
55 
56  static const std::string STATE_NAME;
57  static const std::string ROBOT_NAME;
58 
60 
61  void addRobotState(const moveit_msgs::RobotState& msg, const std::string& name, const std::string& robot = "");
62  bool hasRobotState(const std::string& name, const std::string& robot = "") const;
63  void getKnownRobotStates(std::vector<std::string>& names, const std::string& robot = "") const;
64  void getKnownRobotStates(const std::string& regex, std::vector<std::string>& names,
65  const std::string& robot = "") const;
66 
68  bool getRobotState(RobotStateWithMetadata& msg_m, const std::string& name, const std::string& robot = "") const;
69 
70  void renameRobotState(const std::string& old_name, const std::string& new_name, const std::string& robot = "");
71 
72  void removeRobotState(const std::string& name, const std::string& robot = "");
73 
74  void reset();
75 
76 private:
77  void createCollections();
78 
79  RobotStateCollection state_collection_;
80 };
81 }
82 
83 #endif
void addRobotState(const moveit_msgs::RobotState &msg, const std::string &name, const std::string &robot="")
void getKnownRobotStates(std::vector< std::string > &names, const std::string &robot="") const
RobotStateStorage(warehouse_ros::DatabaseConnection::Ptr conn)
warehouse_ros::MessageWithMetadata< moveit_msgs::RobotState >::ConstPtr RobotStateWithMetadata
Definition: state_storage.h:46
This class provides the mechanism to connect to a database and reads needed ROS parameters when appro...
MOVEIT_CLASS_FORWARD(ConstraintsStorage)
bool hasRobotState(const std::string &name, const std::string &robot="") const
static const std::string DATABASE_NAME
Definition: state_storage.h:54
static const std::string STATE_NAME
Definition: state_storage.h:56
bool getRobotState(RobotStateWithMetadata &msg_m, const std::string &name, const std::string &robot="") const
Get the constraints named name. Return false on failure.
RobotStateCollection state_collection_
Definition: state_storage.h:79
void renameRobotState(const std::string &old_name, const std::string &new_name, const std::string &robot="")
void removeRobotState(const std::string &name, const std::string &robot="")
warehouse_ros::MessageCollection< moveit_msgs::RobotState >::Ptr RobotStateCollection
Definition: state_storage.h:47
static const std::string ROBOT_NAME
Definition: state_storage.h:57


warehouse
Author(s): Ioan Sucan
autogenerated on Wed Jul 18 2018 02:49:37