state_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/robot_state.hpp>
#include <rclcpp/logger.hpp>
 
#include <moveit_warehouse_export.h>
 
namespace moveit_warehouse
{
typedef warehouse_ros::MessageWithMetadata<moveit_msgs::msg::RobotState>::ConstPtr RobotStateWithMetadata;
typedef warehouse_ros::MessageCollection<moveit_msgs::msg::RobotState>::Ptr RobotStateCollection;
 
MOVEIT_CLASS_FORWARD(RobotStateStorage);  // Defines RobotStateStoragePtr, ConstPtr, WeakPtr... etc
 
class MOVEIT_WAREHOUSE_EXPORT RobotStateStorage : public MoveItMessageStorage
{
public:
  static const std::string DATABASE_NAME;
 
  static const std::string STATE_NAME;
  static const std::string ROBOT_NAME;
 
  RobotStateStorage(warehouse_ros::DatabaseConnection::Ptr conn);
 
  void addRobotState(const moveit_msgs::msg::RobotState& msg, const std::string& name, const std::string& robot = "");
  bool hasRobotState(const std::string& name, const std::string& robot = "") const;
  void getKnownRobotStates(std::vector<std::string>& names, const std::string& robot = "") const;
  void getKnownRobotStates(const std::string& regex, std::vector<std::string>& names,
                           const std::string& robot = "") const;

  bool getRobotState(RobotStateWithMetadata& msg_m, const std::string& name, const std::string& robot = "") const;
 
  void renameRobotState(const std::string& old_name, const std::string& new_name, const std::string& robot = "");
 
  void removeRobotState(const std::string& name, const std::string& robot = "");
 
  void reset();
 
private:
  void createCollections();
 
  RobotStateCollection state_collection_;
  rclcpp::Logger logger_;
};
}  // namespace moveit_warehouse