world_diff.h

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/* Author: Acorn Pooley, Ioan Sucan, Sachin Chitta */

#ifndef MOVEIT_COLLISION_DETECTION_WORLD_DIFF_
#define MOVEIT_COLLISION_DETECTION_WORLD_DIFF_

#include <moveit/collision_detection/world.h>
#include <boost/weak_ptr.hpp>

namespace collision_detection
{

  class WorldDiff
  {
  public:

    WorldDiff();

    WorldDiff(const WorldPtr& world);

    WorldDiff(WorldDiff &other);

    ~WorldDiff();

    void setWorld(const WorldPtr& world);

    void reset(const WorldPtr& world);

    void reset();

    const std::map<std::string, World::Action>& getChanges() const
    {
      return changes_;
    }

    typedef std::map<std::string, World::Action>::const_iterator const_iterator;
    const_iterator begin() const
    {
      return changes_.begin();
    }
    const_iterator end() const
    {
      return changes_.end();
    }
    size_t size() const
    {
      return changes_.size();
    }
    const_iterator find(const std::string& id) const
    {
      return changes_.find(id);
    }
    void set(const std::string& id, World::Action val)
    {
      if (val)
        changes_[id] = val;
      else
        changes_.erase(id);
    }

    void clearChanges();

  private:
    void notify(const World::ObjectConstPtr&, World::Action);

    std::map<std::string, World::Action> changes_;

    /* observer handle for world callback */
    World::ObserverHandle observer_handle_;

    /* used to unregister the notifier */
    boost::weak_ptr<World> world_;
  };

  typedef boost::shared_ptr<WorldDiff> WorldDiffPtr;
  typedef boost::shared_ptr<const WorldDiff> WorldDiffConstPtr;
}

#endif