constraints_storage.h

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2012, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage 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" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

/* Author: Ioan Sucan */

#ifndef MOVEIT_MOVEIT_WAREHOUSE_CONSTRAINTS_STORAGE_
#define MOVEIT_MOVEIT_WAREHOUSE_CONSTRAINTS_STORAGE_

#include "moveit/warehouse/moveit_message_storage.h"
#include <moveit_msgs/Constraints.h>

namespace moveit_warehouse
{

typedef mongo_ros::MessageWithMetadata<moveit_msgs::Constraints>::ConstPtr ConstraintsWithMetadata;
typedef boost::shared_ptr<mongo_ros::MessageCollection<moveit_msgs::Constraints> > ConstraintsCollection;

class ConstraintsStorage : public MoveItMessageStorage
{
public:

  static const std::string DATABASE_NAME;

  static const std::string CONSTRAINTS_ID_NAME;
  static const std::string CONSTRAINTS_GROUP_NAME;
  static const std::string ROBOT_NAME;


  ConstraintsStorage(const std::string &host = "", const unsigned int port = 0, double wait_seconds = 5.0);

  void addConstraints(const moveit_msgs::Constraints &msg, const std::string &robot = "", const std::string &group = "");
  bool hasConstraints(const std::string &name, const std::string &robot = "", const std::string &group = "") const;
  void getKnownConstraints(std::vector<std::string> &names, const std::string &robot = "", const std::string &group = "") const;
  void getKnownConstraints(const std::string &regex, std::vector<std::string> &names, const std::string &robot = "", const std::string &group = "") const;

  bool getConstraints(ConstraintsWithMetadata &msg_m, const std::string &name, const std::string &robot = "", const std::string &group = "") const;

  void renameConstraints(const std::string &old_name, const std::string &new_name, const std::string &robot = "", const std::string &group = "");

  void removeConstraints(const std::string &name, const std::string &robot = "", const std::string &group = "");

  void reset();

private:

  void createCollections();

  ConstraintsCollection constraints_collection_;

};
}

#endif