planning_scene_world_storage.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/warehouse/moveit_message_storage.h>
#include <moveit_msgs/msg/planning_scene_world.hpp>
#include <rclcpp/logger.hpp>
 
namespace moveit_warehouse
{
typedef warehouse_ros::MessageWithMetadata<moveit_msgs::msg::PlanningSceneWorld>::ConstPtr PlanningSceneWorldWithMetadata;
typedef warehouse_ros::MessageCollection<moveit_msgs::msg::PlanningSceneWorld>::Ptr PlanningSceneWorldCollection;
 
class PlanningSceneWorldStorage : public MoveItMessageStorage
{
public:
  static const std::string DATABASE_NAME;
  static const std::string PLANNING_SCENE_WORLD_ID_NAME;
 
  PlanningSceneWorldStorage(warehouse_ros::DatabaseConnection::Ptr conn);
 
  void addPlanningSceneWorld(const moveit_msgs::msg::PlanningSceneWorld& msg, const std::string& name);
  bool hasPlanningSceneWorld(const std::string& name) const;
  void getKnownPlanningSceneWorlds(std::vector<std::string>& names) const;
  void getKnownPlanningSceneWorlds(const std::string& regex, std::vector<std::string>& names) const;
 
  bool getPlanningSceneWorld(PlanningSceneWorldWithMetadata& msg_m, const std::string& name) const;
 
  void renamePlanningSceneWorld(const std::string& old_name, const std::string& new_name);
 
  void removePlanningSceneWorld(const std::string& name);
 
  void reset();
 
private:
  void createCollections();
 
  PlanningSceneWorldCollection planning_scene_world_collection_;
  rclcpp::Logger logger_;
};
}  // namespace moveit_warehouse