planning_scene_storage.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_MOVEIT_WAREHOUSE_PLANNING_SCENE_STORAGE_
#define MOVEIT_MOVEIT_WAREHOUSE_PLANNING_SCENE_STORAGE_

#include "moveit/warehouse/moveit_message_storage.h"
#include <moveit_msgs/PlanningScene.h>
#include <moveit_msgs/MotionPlanRequest.h>
#include <moveit_msgs/RobotTrajectory.h>

namespace moveit_warehouse
{

typedef mongo_ros::MessageWithMetadata<moveit_msgs::PlanningScene>::ConstPtr PlanningSceneWithMetadata;
typedef mongo_ros::MessageWithMetadata<moveit_msgs::MotionPlanRequest>::ConstPtr MotionPlanRequestWithMetadata;
typedef mongo_ros::MessageWithMetadata<moveit_msgs::RobotTrajectory>::ConstPtr RobotTrajectoryWithMetadata;

typedef boost::shared_ptr<mongo_ros::MessageCollection<moveit_msgs::PlanningScene> > PlanningSceneCollection;
typedef boost::shared_ptr<mongo_ros::MessageCollection<moveit_msgs::MotionPlanRequest> > MotionPlanRequestCollection;
typedef boost::shared_ptr<mongo_ros::MessageCollection<moveit_msgs::RobotTrajectory> > RobotTrajectoryCollection;

class PlanningSceneStorage : public MoveItMessageStorage
{
public:

  static const std::string DATABASE_NAME;

  static const std::string PLANNING_SCENE_ID_NAME;
  static const std::string MOTION_PLAN_REQUEST_ID_NAME;

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

  void addPlanningScene(const moveit_msgs::PlanningScene &scene);
  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);

  bool hasPlanningScene(const std::string &name) const;
  void getPlanningSceneNames(std::vector<std::string> &names) const;
  void getPlanningSceneNames(const std::string &regex, std::vector<std::string> &names) const;

  bool getPlanningScene(PlanningSceneWithMetadata &scene_m, const std::string &scene_name) 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 getPlanningQuery(MotionPlanRequestWithMetadata &query_m, const std::string &scene_name, const std::string &query_name);
  void getPlanningQueries(std::vector<MotionPlanRequestWithMetadata> &planning_queries, 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;
  void getPlanningQueries(std::vector<MotionPlanRequestWithMetadata> &planning_queries, std::vector<std::string> &query_names, const std::string &scene_name) const;

  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;

  void renamePlanningScene(const std::string &old_scene_name, const std::string &new_scene_name);
  void renamePlanningQuery(const std::string &scene_name, const std::string &old_query_name, const std::string &new_query_name);

  void removePlanningScene(const std::string &scene_name);
  void removePlanningQuery(const std::string &scene_name, const std::string &query_name);
  void removePlanningQueries(const std::string &scene_name);
  void removePlanningResults(const std::string &scene_name);
  void removePlanningResults(const std::string &scene_name, const std::string &query_name);

  void reset();

private:

  void createCollections();

  std::string getMotionPlanRequestName(const moveit_msgs::MotionPlanRequest &planning_query, const std::string &scene_name) const;
  std::string addNewPlanningRequest(const moveit_msgs::MotionPlanRequest &planning_query, const std::string &scene_name, const std::string &query_name);

  PlanningSceneCollection     planning_scene_collection_;
  MotionPlanRequestCollection motion_plan_request_collection_;
  RobotTrajectoryCollection   robot_trajectory_collection_;
};
}

#endif