moveit2
The MoveIt Motion Planning Framework for ROS 2.
moveit_message_storage.cpp
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34 
35 /* Author: Ioan Sucan */
36 
38 #include <warehouse_ros/database_loader.h>
39 #include <memory>
40 #include <utility>
41 #include <regex>
42 
43 moveit_warehouse::MoveItMessageStorage::MoveItMessageStorage(warehouse_ros::DatabaseConnection::Ptr conn)
44  : conn_(std::move(conn))
45 {
46 }
47 
48 void moveit_warehouse::MoveItMessageStorage::filterNames(const std::string& regex, std::vector<std::string>& names) const
49 {
50  if (!regex.empty())
51  {
52  std::vector<std::string> fnames;
53  std::regex r(regex);
54  for (std::string& name : names)
55  {
56  std::smatch match;
57  if (std::regex_match(name, match, r))
58  fnames.push_back(name);
59  }
60  names.swap(fnames);
61  }
62 }
63 
64 static std::unique_ptr<warehouse_ros::DatabaseLoader> DBLOADER;
65 
66 typename warehouse_ros::DatabaseConnection::Ptr moveit_warehouse::loadDatabase(const rclcpp::Node::SharedPtr& node)
67 {
68  if (!DBLOADER)
69  {
70  DBLOADER = std::make_unique<warehouse_ros::DatabaseLoader>(node);
71  }
72  return DBLOADER->loadDatabase();
73  // return typename warehouse_ros::DatabaseConnection::Ptr(new warehouse_ros_mongo::MongoDatabaseConnection());
74 }
void filterNames(const std::string &regex, std::vector< std::string > &names) const
Keep only the names that match regex.
MoveItMessageStorage(warehouse_ros::DatabaseConnection::Ptr conn)
Takes a warehouse_ros DatabaseConnection. The DatabaseConnection is expected to have already been ini...
warehouse_ros::DatabaseConnection::Ptr loadDatabase(const rclcpp::Node::SharedPtr &node)
Load a database connection.
r
Definition: plan.py:56
name
Definition: setup.py:7