moveit2
The MoveIt Motion Planning Framework for ROS 2.
trajectory_constraints_storage.h
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34 
35 /* Author: Mario Prats, Ioan Sucan */
36 
37 #pragma once
38 
41 #include <moveit_msgs/msg/trajectory_constraints.hpp>
42 
43 namespace moveit_warehouse
44 {
45 typedef warehouse_ros::MessageWithMetadata<moveit_msgs::msg::TrajectoryConstraints>::ConstPtr
47 typedef warehouse_ros::MessageCollection<moveit_msgs::msg::TrajectoryConstraints>::Ptr TrajectoryConstraintsCollection;
48 
49 MOVEIT_CLASS_FORWARD(TrajectoryConstraintsStorage); // Defines TrajectoryConstraintsStoragePtr, ConstPtr, WeakPtr... etc
50 
52 {
53 public:
54  static const std::string DATABASE_NAME;
55 
56  static const std::string CONSTRAINTS_ID_NAME;
57  static const std::string CONSTRAINTS_GROUP_NAME;
58  static const std::string ROBOT_NAME;
59 
60  TrajectoryConstraintsStorage(warehouse_ros::DatabaseConnection::Ptr conn);
61 
62  void addTrajectoryConstraints(const moveit_msgs::msg::TrajectoryConstraints& msg, const std::string& name,
63  const std::string& robot = "", const std::string& group = "");
64  bool hasTrajectoryConstraints(const std::string& name, const std::string& robot = "",
65  const std::string& group = "") const;
66  void getKnownTrajectoryConstraints(std::vector<std::string>& names, const std::string& robot = "",
67  const std::string& group = "") const;
68  void getKnownTrajectoryConstraints(const std::string& regex, std::vector<std::string>& names,
69  const std::string& robot = "", const std::string& group = "") const;
70 
72  bool getTrajectoryConstraints(TrajectoryConstraintsWithMetadata& msg_m, const std::string& name,
73  const std::string& robot = "", const std::string& group = "") const;
74 
75  void renameTrajectoryConstraints(const std::string& old_name, const std::string& new_name,
76  const std::string& robot = "", const std::string& group = "");
77 
78  void removeTrajectoryConstraints(const std::string& name, const std::string& robot = "",
79  const std::string& group = "");
80 
81  void reset();
82 
83 private:
84  void createCollections();
85 
86  TrajectoryConstraintsCollection constraints_collection_;
87 };
88 } // namespace moveit_warehouse
This class provides the mechanism to connect to a database and reads needed ROS parameters when appro...
TrajectoryConstraintsStorage(warehouse_ros::DatabaseConnection::Ptr conn)
bool hasTrajectoryConstraints(const std::string &name, const std::string &robot="", const std::string &group="") const
void renameTrajectoryConstraints(const std::string &old_name, const std::string &new_name, const std::string &robot="", const std::string &group="")
void getKnownTrajectoryConstraints(std::vector< std::string > &names, const std::string &robot="", const std::string &group="") const
void removeTrajectoryConstraints(const std::string &name, const std::string &robot="", const std::string &group="")
void addTrajectoryConstraints(const moveit_msgs::msg::TrajectoryConstraints &msg, const std::string &name, const std::string &robot="", const std::string &group="")
bool getTrajectoryConstraints(TrajectoryConstraintsWithMetadata &msg_m, const std::string &name, const std::string &robot="", const std::string &group="") const
Get the constraints named name. Return false on failure.
warehouse_ros::MessageWithMetadata< moveit_msgs::msg::TrajectoryConstraints >::ConstPtr TrajectoryConstraintsWithMetadata
MOVEIT_CLASS_FORWARD(PlanningSceneStorage)
warehouse_ros::MessageCollection< moveit_msgs::msg::TrajectoryConstraints >::Ptr TrajectoryConstraintsCollection
robot
Definition: pick.py:53
name
Definition: setup.py:7