Public Member Functions | Static Public Attributes | Private Member Functions | Private Attributes | List of all members
moveit_warehouse::PlanningSceneStorage Class Reference

#include <planning_scene_storage.h>

Inheritance diagram for moveit_warehouse::PlanningSceneStorage:
Inheritance graph
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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. More...
 
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 (warehouse_ros::DatabaseConnection::Ptr conn)
 
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 ()
 
- Public Member Functions inherited from moveit_warehouse::MoveItMessageStorage
 MoveItMessageStorage (warehouse_ros::DatabaseConnection::Ptr conn)
 Takes a warehouse_ros DatabaseConnection. The DatabaseConnection is expected to have already been initialized. More...
 
virtual ~MoveItMessageStorage ()
 

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_
 

Additional Inherited Members

- Protected Member Functions inherited from moveit_warehouse::MoveItMessageStorage
void filterNames (const std::string &regex, std::vector< std::string > &names) const
 Keep only the names that match regex. More...
 
- Protected Attributes inherited from moveit_warehouse::MoveItMessageStorage
warehouse_ros::DatabaseConnection::Ptr conn_
 

Detailed Description

Definition at line 58 of file planning_scene_storage.h.

Constructor & Destructor Documentation

◆ PlanningSceneStorage()

moveit_warehouse::PlanningSceneStorage::PlanningSceneStorage ( warehouse_ros::DatabaseConnection::Ptr  conn)

Definition at line 49 of file planning_scene_storage.cpp.

Member Function Documentation

◆ addNewPlanningRequest()

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 146 of file planning_scene_storage.cpp.

◆ addPlanningQuery()

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

Definition at line 132 of file planning_scene_storage.cpp.

◆ addPlanningResult()

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

Definition at line 173 of file planning_scene_storage.cpp.

◆ addPlanningScene()

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

Definition at line 73 of file planning_scene_storage.cpp.

◆ createCollections()

void moveit_warehouse::PlanningSceneStorage::createCollections ( )
private

Definition at line 55 of file planning_scene_storage.cpp.

◆ getMotionPlanRequestName()

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

Definition at line 96 of file planning_scene_storage.cpp.

◆ getPlanningQueries() [1/2]

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

Definition at line 255 of file planning_scene_storage.cpp.

◆ getPlanningQueries() [2/2]

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 297 of file planning_scene_storage.cpp.

◆ getPlanningQueriesNames() [1/2]

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

Definition at line 263 of file planning_scene_storage.cpp.

◆ getPlanningQueriesNames() [2/2]

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

Definition at line 275 of file planning_scene_storage.cpp.

◆ getPlanningQuery()

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

Definition at line 235 of file planning_scene_storage.cpp.

◆ getPlanningResults() [1/2]

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 312 of file planning_scene_storage.cpp.

◆ getPlanningResults() [2/2]

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

Definition at line 323 of file planning_scene_storage.cpp.

◆ getPlanningScene()

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 217 of file planning_scene_storage.cpp.

◆ getPlanningSceneNames() [1/2]

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

Definition at line 186 of file planning_scene_storage.cpp.

◆ getPlanningSceneNames() [2/2]

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

Definition at line 197 of file planning_scene_storage.cpp.

◆ getPlanningSceneWorld()

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

Definition at line 204 of file planning_scene_storage.cpp.

◆ hasPlanningQuery()

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

Definition at line 333 of file planning_scene_storage.cpp.

◆ hasPlanningScene()

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

Definition at line 87 of file planning_scene_storage.cpp.

◆ removePlanningQueries()

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

Definition at line 377 of file planning_scene_storage.cpp.

◆ removePlanningQuery()

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

Definition at line 386 of file planning_scene_storage.cpp.

◆ removePlanningResults() [1/2]

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

Definition at line 398 of file planning_scene_storage.cpp.

◆ removePlanningResults() [2/2]

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

Definition at line 406 of file planning_scene_storage.cpp.

◆ removePlanningScene()

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

Definition at line 368 of file planning_scene_storage.cpp.

◆ renamePlanningQuery()

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

Definition at line 354 of file planning_scene_storage.cpp.

◆ renamePlanningScene()

void moveit_warehouse::PlanningSceneStorage::renamePlanningScene ( const std::string &  old_scene_name,
const std::string &  new_scene_name 
)

Definition at line 343 of file planning_scene_storage.cpp.

◆ reset()

void moveit_warehouse::PlanningSceneStorage::reset ( )

Definition at line 64 of file planning_scene_storage.cpp.

Member Data Documentation

◆ DATABASE_NAME

const std::string moveit_warehouse::PlanningSceneStorage::DATABASE_NAME = "moveit_planning_scenes"
static

Definition at line 61 of file planning_scene_storage.h.

◆ motion_plan_request_collection_

MotionPlanRequestCollection moveit_warehouse::PlanningSceneStorage::motion_plan_request_collection_
private

Definition at line 119 of file planning_scene_storage.h.

◆ MOTION_PLAN_REQUEST_ID_NAME

const std::string moveit_warehouse::PlanningSceneStorage::MOTION_PLAN_REQUEST_ID_NAME = "motion_request_id"
static

Definition at line 64 of file planning_scene_storage.h.

◆ planning_scene_collection_

PlanningSceneCollection moveit_warehouse::PlanningSceneStorage::planning_scene_collection_
private

Definition at line 118 of file planning_scene_storage.h.

◆ PLANNING_SCENE_ID_NAME

const std::string moveit_warehouse::PlanningSceneStorage::PLANNING_SCENE_ID_NAME = "planning_scene_id"
static

Definition at line 63 of file planning_scene_storage.h.

◆ robot_trajectory_collection_

RobotTrajectoryCollection moveit_warehouse::PlanningSceneStorage::robot_trajectory_collection_
private

Definition at line 120 of file planning_scene_storage.h.


The documentation for this class was generated from the following files:


warehouse
Author(s): Ioan Sucan
autogenerated on Tue Jun 22 2021 06:32:26