moveit_message_storage.cpp

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/* Author: Ioan Sucan */

#include <moveit/warehouse/moveit_message_storage.h>
#include <warehouse_ros/database_loader.h>
#include <boost/scoped_ptr.hpp>
//#include <warehouse_ros_mongo/database_connection.h>
#include <boost/regex.hpp>

moveit_warehouse::MoveItMessageStorage::MoveItMessageStorage(warehouse_ros::DatabaseConnection::Ptr conn) : conn_(conn)
{
}

void moveit_warehouse::MoveItMessageStorage::filterNames(const std::string& regex,
                                                         std::vector<std::string>& names) const
{
  if (!regex.empty())
  {
    std::vector<std::string> fnames;
    boost::regex r(regex);
    for (std::size_t i = 0; i < names.size(); ++i)
    {
      boost::cmatch match;
      if (boost::regex_match(names[i].c_str(), match, r))
        fnames.push_back(names[i]);
    }
    names.swap(fnames);
  }
}

static boost::scoped_ptr<warehouse_ros::DatabaseLoader> dbloader;

typename warehouse_ros::DatabaseConnection::Ptr moveit_warehouse::loadDatabase()
{
  if (!dbloader)
  {
    dbloader.reset(new warehouse_ros::DatabaseLoader());
  }
  return dbloader->loadDatabase();
  // return typename warehouse_ros::DatabaseConnection::Ptr(new warehouse_ros_mongo::MongoDatabaseConnection());
}