planning_scene_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/planning_scene.hpp>
#include <moveit_msgs/msg/motion_plan_request.hpp>
#include <moveit_msgs/msg/robot_trajectory.hpp>
#include <rclcpp/logger.hpp>
 
#include <moveit_warehouse_export.h>
 
namespace moveit_warehouse
{
typedef warehouse_ros::MessageWithMetadata<moveit_msgs::msg::PlanningScene>::ConstPtr PlanningSceneWithMetadata;
typedef warehouse_ros::MessageWithMetadata<moveit_msgs::msg::MotionPlanRequest>::ConstPtr MotionPlanRequestWithMetadata;
typedef warehouse_ros::MessageWithMetadata<moveit_msgs::msg::RobotTrajectory>::ConstPtr RobotTrajectoryWithMetadata;
 
typedef warehouse_ros::MessageCollection<moveit_msgs::msg::PlanningScene>::Ptr PlanningSceneCollection;
typedef warehouse_ros::MessageCollection<moveit_msgs::msg::MotionPlanRequest>::Ptr MotionPlanRequestCollection;
typedef warehouse_ros::MessageCollection<moveit_msgs::msg::RobotTrajectory>::Ptr RobotTrajectoryCollection;
 
MOVEIT_CLASS_FORWARD(PlanningSceneStorage);  // Defines PlanningSceneStoragePtr, ConstPtr, WeakPtr... etc
 
class MOVEIT_WAREHOUSE_EXPORT PlanningSceneStorage : public MoveItMessageStorage
{
public:
  static const std::string DATABASE_NAME;
 
  static const std::string PLANNING_SCENE_ID_NAME;
  static const std::string MOTION_PLAN_REQUEST_ID_NAME;
 
  PlanningSceneStorage(warehouse_ros::DatabaseConnection::Ptr conn);
 
  void addPlanningScene(const moveit_msgs::msg::PlanningScene& scene);
  void addPlanningQuery(const moveit_msgs::msg::MotionPlanRequest& planning_query, const std::string& scene_name,
                        const std::string& query_name = "");
  void addPlanningResult(const moveit_msgs::msg::MotionPlanRequest& planning_query,
                         const moveit_msgs::msg::RobotTrajectory& result, const std::string& scene_name);
 
  bool hasPlanningScene(const std::string& name) const;
  void getPlanningSceneNames(std::vector<std::string>& names) const;
  void getPlanningSceneNames(const std::string& regex, std::vector<std::string>& names) const;

  bool getPlanningScene(PlanningSceneWithMetadata& scene_m, const std::string& scene_name) const;
  bool getPlanningSceneWorld(moveit_msgs::msg::PlanningSceneWorld& world, const std::string& scene_name) const;
 
  bool hasPlanningQuery(const std::string& scene_name, const std::string& query_name) const;
  bool getPlanningQuery(MotionPlanRequestWithMetadata& query_m, const std::string& scene_name,
                        const std::string& query_name);
  void getPlanningQueries(std::vector<MotionPlanRequestWithMetadata>& planning_queries,
                          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;
  void getPlanningQueries(std::vector<MotionPlanRequestWithMetadata>& planning_queries,
                          std::vector<std::string>& query_names, const std::string& scene_name) const;
 
  void getPlanningResults(std::vector<RobotTrajectoryWithMetadata>& planning_results, const std::string& scene_name,
                          const moveit_msgs::msg::MotionPlanRequest& planning_query) const;
  void getPlanningResults(std::vector<RobotTrajectoryWithMetadata>& planning_results, const std::string& scene_name,
                          const std::string& query_name) const;
 
  void renamePlanningScene(const std::string& old_scene_name, const std::string& new_scene_name);
  void renamePlanningQuery(const std::string& scene_name, const std::string& old_query_name,
                           const std::string& new_query_name);
 
  void removePlanningScene(const std::string& scene_name);
  void removePlanningQuery(const std::string& scene_name, const std::string& query_name);
  void removePlanningQueries(const std::string& scene_name);
  void removePlanningResults(const std::string& scene_name);
  void removePlanningResults(const std::string& scene_name, const std::string& query_name);
 
  void reset();
 
private:
  void createCollections();
 
  std::string getMotionPlanRequestName(const moveit_msgs::msg::MotionPlanRequest& planning_query,
                                       const std::string& scene_name) const;
  std::string addNewPlanningRequest(const moveit_msgs::msg::MotionPlanRequest& planning_query,
                                    const std::string& scene_name, const std::string& query_name);
 
  PlanningSceneCollection planning_scene_collection_;
  MotionPlanRequestCollection motion_plan_request_collection_;
  RobotTrajectoryCollection robot_trajectory_collection_;
  rclcpp::Logger logger_;
};
}  // namespace moveit_warehouse