world_diff.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2011, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of the Willow Garage nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *********************************************************************/
00034 
00035 /* Author: Acorn Pooley, Ioan Sucan, Sachin Chitta */
00036 
00037 #ifndef MOVEIT_COLLISION_DETECTION_WORLD_DIFF_
00038 #define MOVEIT_COLLISION_DETECTION_WORLD_DIFF_
00039 
00040 #include <moveit/collision_detection/world.h>
00041 #include <boost/weak_ptr.hpp>
00042 
00043 namespace collision_detection
00044 {
00045 
00047   class WorldDiff
00048   {
00049   public:
00050 
00052     WorldDiff();
00053 
00055     WorldDiff(const WorldPtr& world);
00056 
00058     WorldDiff(WorldDiff &other);
00059 
00060     ~WorldDiff();
00061 
00065     void setWorld(const WorldPtr& world);
00066 
00069     void reset(const WorldPtr& world);
00070 
00072     void reset();
00073 
00075     const std::map<std::string, World::Action>& getChanges() const
00076     {
00077       return changes_;
00078     }
00079 
00080     typedef std::map<std::string, World::Action>::const_iterator const_iterator;
00082     const_iterator begin() const
00083     {
00084       return changes_.begin();
00085     }
00087     const_iterator end() const
00088     {
00089       return changes_.end();
00090     }
00092     size_t size() const
00093     {
00094       return changes_.size();
00095     }
00097     const_iterator find(const std::string& id) const
00098     {
00099       return changes_.find(id);
00100     }
00102     void set(const std::string& id, World::Action val)
00103     {
00104       if (val)
00105         changes_[id] = val;
00106       else
00107         changes_.erase(id);
00108     }
00109 
00111     void clearChanges();
00112 
00113   private:
00115     void notify(const World::ObjectConstPtr&, World::Action);
00116 
00118     std::map<std::string, World::Action> changes_;
00119 
00120     /* observer handle for world callback */
00121     World::ObserverHandle observer_handle_;
00122 
00123     /* used to unregister the notifier */
00124     boost::weak_ptr<World> world_;
00125   };
00126 
00127   typedef boost::shared_ptr<WorldDiff> WorldDiffPtr;
00128   typedef boost::shared_ptr<const WorldDiff> WorldDiffConstPtr;
00129 }
00130 
00131 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Oct 6 2014 02:24:47