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 <memory>
#include <utility>
#include <regex>
 
moveit_warehouse::MoveItMessageStorage::MoveItMessageStorage(warehouse_ros::DatabaseConnection::Ptr conn)
  : conn_(std::move(conn))
{
}
 
void moveit_warehouse::MoveItMessageStorage::filterNames(const std::string& regex, std::vector<std::string>& names) const
{
  if (!regex.empty())
  {
    std::vector<std::string> fnames;
    std::regex r(regex);
    for (std::string& name : names)
    {
      std::smatch match;
      if (std::regex_match(name, match, r))
        fnames.push_back(name);
    }
    names.swap(fnames);
  }
}
 
static std::unique_ptr<warehouse_ros::DatabaseLoader> DBLOADER;
 
typename warehouse_ros::DatabaseConnection::Ptr moveit_warehouse::loadDatabase(const rclcpp::Node::SharedPtr& node)
{
  if (!DBLOADER)
  {
    DBLOADER = std::make_unique<warehouse_ros::DatabaseLoader>(node);
  }
  return DBLOADER->loadDatabase();
  // return typename warehouse_ros::DatabaseConnection::Ptr(new warehouse_ros_mongo::MongoDatabaseConnection());
}