#include <planning_scene_storage.h>

Inheritance diagram for moveit_warehouse::PlanningSceneStorage:

Public Member Functions
void	addPlanningQuery (const moveit_msgs::MotionPlanRequest &planning_query, const std::string &scene_name, const std::string &query_name="")
void	addPlanningResult (const moveit_msgs::MotionPlanRequest &planning_query, const moveit_msgs::RobotTrajectory &result, const std::string &scene_name)
void	addPlanningScene (const moveit_msgs::PlanningScene &scene)
void	getPlanningQueries (std::vector< MotionPlanRequestWithMetadata > &planning_queries, const std::string &scene_name) const
void	getPlanningQueries (std::vector< MotionPlanRequestWithMetadata > &planning_queries, std::vector< std::string > &query_names, const std::string &scene_name) const
void	getPlanningQueriesNames (std::vector< std::string > &query_names, const std::string &scene_name) const
void	getPlanningQueriesNames (const std::string &regex, std::vector< std::string > &query_names, const std::string &scene_name) const
bool	getPlanningQuery (MotionPlanRequestWithMetadata &query_m, const std::string &scene_name, const std::string &query_name)
void	getPlanningResults (std::vector< RobotTrajectoryWithMetadata > &planning_results, const std::string &scene_name, const moveit_msgs::MotionPlanRequest &planning_query) const
void	getPlanningResults (std::vector< RobotTrajectoryWithMetadata > &planning_results, const std::string &scene_name, const std::string &query_name) const
bool	getPlanningScene (PlanningSceneWithMetadata &scene_m, const std::string &scene_name) const
	Get the latest planning scene named scene_name.
void	getPlanningSceneNames (std::vector< std::string > &names) const
void	getPlanningSceneNames (const std::string &regex, std::vector< std::string > &names) const
bool	getPlanningSceneWorld (moveit_msgs::PlanningSceneWorld &world, const std::string &scene_name) const
bool	hasPlanningQuery (const std::string &scene_name, const std::string &query_name) const
bool	hasPlanningScene (const std::string &name) const
	PlanningSceneStorage (const std::string &host="", const unsigned int port=0, double wait_seconds=5.0)
	Initialize the planning scene storage to connect to a specified host and port for the MongoDB. If defaults are used for the parameters (empty host name, 0 port), the constructor looks for ROS params specifying which host/port to use. NodeHandle::searchParam() is used starting from ~ to look for warehouse_port and warehouse_host. If no values are found, the defaults are left to be the ones MongoDB uses. If wait_seconds is above 0, then a maximum number of seconds can elapse until connection is successful, or a runtime exception is thrown.
void	removePlanningQueries (const std::string &scene_name)
void	removePlanningQuery (const std::string &scene_name, const std::string &query_name)
void	removePlanningResults (const std::string &scene_name)
void	removePlanningResults (const std::string &scene_name, const std::string &query_name)
void	removePlanningScene (const std::string &scene_name)
void	renamePlanningQuery (const std::string &scene_name, const std::string &old_query_name, const std::string &new_query_name)
void	renamePlanningScene (const std::string &old_scene_name, const std::string &new_scene_name)
void	reset ()
Static Public Attributes
static const std::string	DATABASE_NAME = "moveit_planning_scenes"
static const std::string	MOTION_PLAN_REQUEST_ID_NAME = "motion_request_id"
static const std::string	PLANNING_SCENE_ID_NAME = "planning_scene_id"
Private Member Functions
std::string	addNewPlanningRequest (const moveit_msgs::MotionPlanRequest &planning_query, const std::string &scene_name, const std::string &query_name)
void	createCollections ()
std::string	getMotionPlanRequestName (const moveit_msgs::MotionPlanRequest &planning_query, const std::string &scene_name) const
Private Attributes
MotionPlanRequestCollection	motion_plan_request_collection_
PlanningSceneCollection	planning_scene_collection_
RobotTrajectoryCollection	robot_trajectory_collection_

Detailed Description

Definition at line 56 of file planning_scene_storage.h.

Constructor & Destructor Documentation

moveit_warehouse::PlanningSceneStorage::PlanningSceneStorage	(	const std::string &	host = `""`,
		const unsigned int	port = `0`,
		double	wait_seconds = `5.0`
	)

Initialize the planning scene storage to connect to a specified host and port for the MongoDB. If defaults are used for the parameters (empty host name, 0 port), the constructor looks for ROS params specifying which host/port to use. NodeHandle::searchParam() is used starting from ~ to look for warehouse_port and warehouse_host. If no values are found, the defaults are left to be the ones MongoDB uses. If wait_seconds is above 0, then a maximum number of seconds can elapse until connection is successful, or a runtime exception is thrown.

Definition at line 45 of file planning_scene_storage.cpp.

Member Function Documentation

std::string moveit_warehouse::PlanningSceneStorage::addNewPlanningRequest	(	const moveit_msgs::MotionPlanRequest &	planning_query,
		const std::string &	scene_name,
		const std::string &	query_name
	)		`[private]`

Definition at line 133 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::addPlanningQuery	(	const moveit_msgs::MotionPlanRequest &	planning_query,
		const std::string &	scene_name,
		const std::string &	query_name = `""`
	)

Definition at line 121 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::addPlanningResult	(	const moveit_msgs::MotionPlanRequest &	planning_query,
		const moveit_msgs::RobotTrajectory &	result,
		const std::string &	scene_name
	)

Definition at line 157 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::addPlanningScene ( const moveit_msgs::PlanningScene & scene )

Definition at line 68 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::createCollections ( ) [private]

Definition at line 52 of file planning_scene_storage.cpp.

std::string moveit_warehouse::PlanningSceneStorage::getMotionPlanRequestName	(	const moveit_msgs::MotionPlanRequest &	planning_query,
		const std::string &	scene_name
	)		const `[private]`

Definition at line 88 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::getPlanningQueries	(	std::vector< MotionPlanRequestWithMetadata > &	planning_queries,
		const std::string &	scene_name
	)		const

Definition at line 227 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::getPlanningQueries	(	std::vector< MotionPlanRequestWithMetadata > &	planning_queries,
		std::vector< std::string > &	query_names,
		const std::string &	scene_name
	)		const

Definition at line 263 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::getPlanningQueriesNames	(	std::vector< std::string > &	query_names,
		const std::string &	scene_name
	)		const

Definition at line 233 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::getPlanningQueriesNames	(	const std::string &	regex,
		std::vector< std::string > &	query_names,
		const std::string &	scene_name
	)		const

Definition at line 243 of file planning_scene_storage.cpp.

bool moveit_warehouse::PlanningSceneStorage::getPlanningQuery	(	MotionPlanRequestWithMetadata &	query_m,
		const std::string &	scene_name,
		const std::string &	query_name
	)

Definition at line 210 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::getPlanningResults	(	std::vector< RobotTrajectoryWithMetadata > &	planning_results,
		const std::string &	scene_name,
		const moveit_msgs::MotionPlanRequest &	planning_query
	)		const

Definition at line 275 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::getPlanningResults	(	std::vector< RobotTrajectoryWithMetadata > &	planning_results,
		const std::string &	scene_name,
		const std::string &	query_name
	)		const

Definition at line 285 of file planning_scene_storage.cpp.

bool moveit_warehouse::PlanningSceneStorage::getPlanningScene	(	PlanningSceneWithMetadata &	scene_m,
		const std::string &	scene_name
	)		const

Get the latest planning scene named scene_name.

Definition at line 195 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::getPlanningSceneNames ( std::vector< std::string > & names ) const

Definition at line 167 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::getPlanningSceneNames	(	const std::string &	regex,
		std::vector< std::string > &	names
	)		const

Definition at line 177 of file planning_scene_storage.cpp.

bool moveit_warehouse::PlanningSceneStorage::getPlanningSceneWorld	(	moveit_msgs::PlanningSceneWorld &	world,
		const std::string &	scene_name
	)		const

Definition at line 183 of file planning_scene_storage.cpp.

bool moveit_warehouse::PlanningSceneStorage::hasPlanningQuery	(	const std::string &	scene_name,
		const std::string &	query_name
	)		const

Definition at line 293 of file planning_scene_storage.cpp.

bool moveit_warehouse::PlanningSceneStorage::hasPlanningScene ( const std::string & name ) const

Definition at line 81 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::removePlanningQueries ( const std::string & scene_name )

Definition at line 326 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::removePlanningQuery	(	const std::string &	scene_name,
		const std::string &	query_name
	)

Definition at line 334 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::removePlanningResults ( const std::string & scene_name )

Definition at line 343 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::removePlanningResults	(	const std::string &	scene_name,
		const std::string &	query_name
	)

Definition at line 350 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::removePlanningScene ( const std::string & scene_name )

Definition at line 318 of file planning_scene_storage.cpp.

void moveit_warehouse::PlanningSceneStorage::renamePlanningQuery	(	const std::string &	scene_name,
		const std::string &	old_query_name,
		const std::string &	new_query_name
	)