constraints_storage.hpp

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/warehouse/moveit_message_storage.hpp>
#include <moveit/macros/class_forward.hpp>
#include <moveit_msgs/msg/constraints.hpp>
 
#include <moveit_warehouse_export.h>
 
#include <rclcpp/logger.hpp>
 
namespace moveit_warehouse
{
typedef warehouse_ros::MessageWithMetadata<moveit_msgs::msg::Constraints>::ConstPtr ConstraintsWithMetadata;
typedef warehouse_ros::MessageCollection<moveit_msgs::msg::Constraints>::Ptr ConstraintsCollection;
 
MOVEIT_CLASS_FORWARD(ConstraintsStorage);  // Defines ConstraintsStoragePtr, ConstPtr, WeakPtr... etc
 
class MOVEIT_WAREHOUSE_EXPORT ConstraintsStorage : public MoveItMessageStorage
{
public:
  static const std::string DATABASE_NAME;
 
  static const std::string CONSTRAINTS_ID_NAME;
  static const std::string CONSTRAINTS_GROUP_NAME;
  static const std::string ROBOT_NAME;
 
  ConstraintsStorage(warehouse_ros::DatabaseConnection::Ptr conn);
 
  void addConstraints(const moveit_msgs::msg::Constraints& msg, const std::string& robot = "",
                      const std::string& group = "");
  bool hasConstraints(const std::string& name, const std::string& robot = "", const std::string& group = "") const;
  void getKnownConstraints(std::vector<std::string>& names, const std::string& robot = "",
                           const std::string& group = "") const;
  void getKnownConstraints(const std::string& regex, std::vector<std::string>& names, const std::string& robot = "",
                           const std::string& group = "") const;

  bool getConstraints(ConstraintsWithMetadata& msg_m, const std::string& name, const std::string& robot = "",
                      const std::string& group = "") const;
 
  void renameConstraints(const std::string& old_name, const std::string& new_name, const std::string& robot = "",
                         const std::string& group = "");
 
  void removeConstraints(const std::string& name, const std::string& robot = "", const std::string& group = "");
 
  void reset();
 
private:
  void createCollections();
 
  ConstraintsCollection constraints_collection_;
  rclcpp::Logger logger_;
};
}  // namespace moveit_warehouse