planning_scene_monitor::LockedPlanningSceneRO Class Reference

This is a convenience class for obtaining access to an instance of a locked PlanningScene. More...

#include <planning_scene_monitor.h>

Inheritance diagram for planning_scene_monitor::LockedPlanningSceneRO:

Classes
struct	SingleUnlock

Public Member Functions
const PlanningSceneMonitorPtr &	getPlanningSceneMonitor ()
	LockedPlanningSceneRO (const PlanningSceneMonitorPtr &planning_scene_monitor)
	operator bool () const
	operator const planning_scene::PlanningSceneConstPtr & () const
const planning_scene::PlanningSceneConstPtr &	operator-> () const

Protected Member Functions
void	initialize (bool read_only)
	LockedPlanningSceneRO (const PlanningSceneMonitorPtr &planning_scene_monitor, bool read_only)
	MOVEIT_STRUCT_FORWARD (SingleUnlock)

Protected Attributes
SingleUnlockPtr	lock_
PlanningSceneMonitorPtr	planning_scene_monitor_

Detailed Description

This is a convenience class for obtaining access to an instance of a locked PlanningScene.

Instances of this class can be used almost exactly like instances of a PlanningScenePtr because of the typecast operator and "operator->" functions. Therefore you will often see code like this:

planning_scene_monitor::LockedPlanningSceneRO ls(planning_scene_monitor);
moveit::core::RobotModelConstPtr model = ls->getRobotModel();

The function "getRobotModel()" is a member of PlanningScene and not a member of this class. However because of the "operator->" here which returns a PlanningSceneConstPtr, this works.

Any number of these "ReadOnly" locks can exist at a given time. The intention is that users which only need to read from the PlanningScene will use these and will thus not interfere with each other.

See also

LockedPlanningSceneRW

Definition at line 651 of file planning_scene_monitor.h.

Constructor & Destructor Documentation

LockedPlanningSceneRO() [1/2]

planning_scene_monitor::LockedPlanningSceneRO::LockedPlanningSceneRO ( const PlanningSceneMonitorPtr &  planning_scene_monitor )

inline

Definition at line 654 of file planning_scene_monitor.h.

LockedPlanningSceneRO() [2/2]

planning_scene_monitor::LockedPlanningSceneRO::LockedPlanningSceneRO ( const PlanningSceneMonitorPtr &  planning_scene_monitor, bool  read_only  )

inlineprotected

Definition at line 681 of file planning_scene_monitor.h.

Member Function Documentation

getPlanningSceneMonitor()

const PlanningSceneMonitorPtr& planning_scene_monitor::LockedPlanningSceneRO::getPlanningSceneMonitor ( )

inline

Definition at line 660 of file planning_scene_monitor.h.

initialize()

void planning_scene_monitor::LockedPlanningSceneRO::initialize ( bool  read_only )

inlineprotected

Definition at line 687 of file planning_scene_monitor.h.

MOVEIT_STRUCT_FORWARD()

planning_scene_monitor::LockedPlanningSceneRO::MOVEIT_STRUCT_FORWARD ( SingleUnlock  )

protected

operator bool()

planning_scene_monitor::LockedPlanningSceneRO::operator bool ( ) const

inline

Definition at line 665 of file planning_scene_monitor.h.

operator const planning_scene::PlanningSceneConstPtr &()

planning_scene_monitor::LockedPlanningSceneRO::operator const planning_scene::PlanningSceneConstPtr & ( ) const

inline

Definition at line 670 of file planning_scene_monitor.h.

operator->()

const planning_scene::PlanningSceneConstPtr& planning_scene_monitor::LockedPlanningSceneRO::operator-> ( ) const

inline

Definition at line 675 of file planning_scene_monitor.h.

Member Data Documentation

lock_

SingleUnlockPtr planning_scene_monitor::LockedPlanningSceneRO::lock_

protected

Definition at line 719 of file planning_scene_monitor.h.

planning_scene_monitor_

PlanningSceneMonitorPtr planning_scene_monitor::LockedPlanningSceneRO::planning_scene_monitor_

protected

Definition at line 718 of file planning_scene_monitor.h.

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The documentation for this class was generated from the following file:

• planning_scene_monitor.h