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  /* Author: Ioan Sucan */
  
  #pragma once
  
  #include "moveit/warehouse/moveit_message_storage.h"
  #include <moveit/macros/class_forward.h>
  #include <moveit_msgs/msg/planning_scene.hpp>
  #include <moveit_msgs/msg/motion_plan_request.hpp>
  #include <moveit_msgs/msg/robot_trajectory.hpp>
  
  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 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;
  
    /** \brief Get the latest planning scene named \e scene_name */
    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_;
  };
  }  // namespace moveit_warehouse
  