trajectory_constraints_storage.h

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/* Author: Mario Prats, Ioan Sucan */
 
#pragma once
 
#include <moveit/warehouse/moveit_message_storage.h>
#include <moveit/macros/class_forward.h>
#include <moveit_msgs/msg/trajectory_constraints.hpp>
#include <rclcpp/logger.hpp>
 
namespace moveit_warehouse
{
typedef warehouse_ros::MessageWithMetadata<moveit_msgs::msg::TrajectoryConstraints>::ConstPtr
    TrajectoryConstraintsWithMetadata;
typedef warehouse_ros::MessageCollection<moveit_msgs::msg::TrajectoryConstraints>::Ptr TrajectoryConstraintsCollection;
 
MOVEIT_CLASS_FORWARD(TrajectoryConstraintsStorage);  // Defines TrajectoryConstraintsStoragePtr, ConstPtr, WeakPtr... etc
 
class TrajectoryConstraintsStorage : 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;
 
  TrajectoryConstraintsStorage(warehouse_ros::DatabaseConnection::Ptr conn);
 
  void addTrajectoryConstraints(const moveit_msgs::msg::TrajectoryConstraints& msg, const std::string& name,
                                const std::string& robot = "", const std::string& group = "");
  bool hasTrajectoryConstraints(const std::string& name, const std::string& robot = "",
                                const std::string& group = "") const;
  void getKnownTrajectoryConstraints(std::vector<std::string>& names, const std::string& robot = "",
                                     const std::string& group = "") const;
  void getKnownTrajectoryConstraints(const std::string& regex, std::vector<std::string>& names,
                                     const std::string& robot = "", const std::string& group = "") const;
 
  bool getTrajectoryConstraints(TrajectoryConstraintsWithMetadata& msg_m, 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 removeTrajectoryConstraints(const std::string& name, const std::string& robot = "",
                                   const std::string& group = "");
 
  void reset();
 
private:
  void createCollections();
 
  TrajectoryConstraintsCollection constraints_collection_;
  rclcpp::Logger logger_;
};
}  // namespace moveit_warehouse