graph_db.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
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 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef POSE_GRAPH_GRAPH_DB_H
#define POSE_GRAPH_GRAPH_DB_H

#include <pose_graph/constraint_graph.h>
#include <warehouse/warehouse_client.h>
#include <yaml-cpp/yaml.h>

namespace pose_graph
{

std::string nodeMetadata (unsigned n);

template <class M>
typename M::ConstPtr
getNodeData (warehouse::Collection<M>* coll, unsigned n);

inline
std::vector<std::string> nodeIndex ()
{
  std::vector<std::string> v;
  v.push_back("node");
  return v;
}



template <class M>
class CachedNodeMap
{
public:

  CachedNodeMap (warehouse::WarehouseClient* client, const std::string& name);

  CachedNodeMap (warehouse::Collection<M>* coll);

  CachedNodeMap (const CachedNodeMap& m);

  typename M::ConstPtr get (unsigned n) const;

  void set (unsigned n, typename M::ConstPtr);

  void set (unsigned n, const M& m);

  bool hasData (unsigned n) const;

private:

  void initialLoad ();

  void removeExisting (unsigned n);

  void updateCB (const warehouse::UpdateNotification& m);

  // Mutable since const ops can acquire the lock
  mutable boost::mutex mutex_;

  // True if constructor has finished running
  bool initialized_;

  // Only used if this object owns the collection
  boost::shared_ptr<warehouse::Collection<M> > coll_ptr_;
  warehouse::Collection<M>* coll_;

  // Mutable since it's used as a cache by const ops
  mutable std::map<unsigned, typename M::ConstPtr> map_;

  ros::NodeHandle nh_;
  
  // Used to subscribe to updates on the graph
  ros::Subscriber update_sub_;
  
};



} // namespace

#include "../../src/graph_db_impl.h"

#endif // include guard

---

pose_graph
Author(s): Bhaskara Marthi
autogenerated on Fri Jan 11 09:37:03 2013