Add count methods

Signed-off-by: methylDragon <[email protected]>
osrf · Nov 21, 2023 · b705556 · b705556
1 parent bbc07ce
commit b705556
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Showing 2 changed files with 20 additions and 3 deletions.
diff --git a/nexus_motion_planner/src/motion_plan_cache.cpp b/nexus_motion_planner/src/motion_plan_cache.cpp
@@ -103,6 +103,22 @@ bool MotionPlanCache::init(
   return db_->connect();
 }
 
+unsigned
+MotionPlanCache::count_plans(const std::string& move_group_namespace)
+{
+  auto coll = db_->openCollection<moveit_msgs::msg::RobotTrajectory>(
+    "move_group_plan_cache", move_group_namespace);
+  return coll.count();
+}
+
+unsigned
+MotionPlanCache::count_cartesian_plans(const std::string& move_group_namespace)
+{
+  auto coll = db_->openCollection<moveit_msgs::msg::RobotTrajectory>(
+    "move_group_cartesian_plan_cache", move_group_namespace);
+  return coll.count();
+}
+
 // =============================================================================
 // MOTION PLAN CACHING
 // =============================================================================

diff --git a/nexus_motion_planner/src/motion_plan_cache.hpp b/nexus_motion_planner/src/motion_plan_cache.hpp
@@ -37,9 +37,6 @@
 #include <moveit/move_group_interface/move_group_interface.h>
 #include <moveit_msgs/srv/get_cartesian_path.hpp>
 
-// NEXUS messages
-#include <nexus_endpoints.hpp>
-
 namespace nexus {
 namespace motion_planner {
 
@@ -93,6 +90,10 @@ class MotionPlanCache
     uint32_t db_port = 0,
     double exact_match_precision = 1e-6);
 
+  unsigned count_plans(const std::string& move_group_namespace);
+
+  unsigned count_cartesian_plans(const std::string& move_group_namespace);
+
   // ===========================================================================
   // MOTION PLAN CACHING
   // ===========================================================================