00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2012, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Ioan Sucan */ 00036 00037 #ifndef MOVEIT_MOVEIT_WAREHOUSE_PLANNING_SCENE_WORLD_STORAGE_ 00038 #define MOVEIT_MOVEIT_WAREHOUSE_PLANNING_SCENE_WORLD_STORAGE_ 00039 00040 #include <moveit/warehouse/moveit_message_storage.h> 00041 #include <moveit_msgs/PlanningSceneWorld.h> 00042 00043 namespace moveit_warehouse 00044 { 00045 00046 typedef mongo_ros::MessageWithMetadata<moveit_msgs::PlanningSceneWorld>::ConstPtr PlanningSceneWorldWithMetadata; 00047 typedef boost::shared_ptr<mongo_ros::MessageCollection<moveit_msgs::PlanningSceneWorld> > PlanningSceneWorldCollection; 00048 00049 00050 class PlanningSceneWorldStorage : public MoveItMessageStorage 00051 { 00052 public: 00053 00054 static const std::string DATABASE_NAME; 00055 static const std::string PLANNING_SCENE_WORLD_ID_NAME; 00056 00057 00063 PlanningSceneWorldStorage(const std::string &host = "", const unsigned int port = 0, double wait_seconds = 5.0); 00064 00065 void addPlanningSceneWorld(const moveit_msgs::PlanningSceneWorld &msg, const std::string &name); 00066 bool hasPlanningSceneWorld(const std::string &name) const; 00067 void getKnownPlanningSceneWorlds(std::vector<std::string> &names) const; 00068 void getKnownPlanningSceneWorlds(const std::string ®ex, std::vector<std::string> &names) const; 00069 00071 bool getPlanningSceneWorld(PlanningSceneWorldWithMetadata &msg_m, const std::string &name) const; 00072 00073 void renamePlanningSceneWorld(const std::string &old_name, const std::string &new_name); 00074 00075 void removePlanningSceneWorld(const std::string &name); 00076 00077 void reset(); 00078 00079 private: 00080 00081 void createCollections(); 00082 00083 PlanningSceneWorldCollection planning_scene_world_collection_; 00084 00085 }; 00086 00087 } 00088 00089 #endif