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  /* Author: Ioan Sucan */
  
  #include <moveit/warehouse/moveit_message_storage.h>
  #include <warehouse_ros/database_loader.h>
  #include <boost/regex.hpp>
  #include <memory>
  #include <utility>
  
  moveit_warehouse::MoveItMessageStorage::MoveItMessageStorage(warehouse_ros::DatabaseConnection::Ptr conn)
    : conn_(std::move(conn))
  {
  }
  
  void moveit_warehouse::MoveItMessageStorage::filterNames(const std::string& regex, std::vector<std::string>& names) const
  {
    if (!regex.empty())
    {
      std::vector<std::string> fnames;
      boost::regex r(regex);
      for (std::string& name : names)
      {
        boost::cmatch match;
        if (boost::regex_match(name.c_str(), match, r))
          fnames.push_back(name);
      }
      names.swap(fnames);
    }
  }
  
  static std::unique_ptr<warehouse_ros::DatabaseLoader> DBLOADER;
  
  typename warehouse_ros::DatabaseConnection::Ptr moveit_warehouse::loadDatabase()
  {
    if (!DBLOADER)
    {
      DBLOADER.reset(new warehouse_ros::DatabaseLoader());
    }
    return DBLOADER->loadDatabase();
    // return typename warehouse_ros::DatabaseConnection::Ptr(new warehouse_ros_mongo::MongoDatabaseConnection());
  }
  