world_diff.cpp
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00034 
00035 /* Author: Acorn Pooley, Ioan Sucan */
00036 
00037 #include <moveit/collision_detection/world_diff.h>
00038 #include <boost/bind.hpp>
00039 
00040 
00041 collision_detection::WorldDiff::~WorldDiff()
00042 {
00043   WorldPtr old_world = world_.lock();
00044   if (old_world)
00045     old_world->removeObserver(observer_handle_);
00046 }
00047 
00048 collision_detection::WorldDiff::WorldDiff()
00049 { }
00050 
00051 collision_detection::WorldDiff::WorldDiff(const WorldPtr& world) :
00052   world_(world)
00053 {
00054   observer_handle_ = world->addObserver(boost::bind(&WorldDiff::notify, this, _1, _2));
00055 }
00056 
00057 collision_detection::WorldDiff::WorldDiff(WorldDiff &other)
00058 {
00059   WorldPtr world = other.world_.lock();
00060   if (world)
00061   {
00062     changes_ = other.changes_;
00063 
00064     boost::weak_ptr<World>(world).swap(world_);
00065     observer_handle_ = world->addObserver(boost::bind(&WorldDiff::notify, this, _1, _2));
00066   }
00067 }
00068 
00069 void collision_detection::WorldDiff::reset()
00070 {
00071   clearChanges();
00072 
00073   WorldPtr old_world = world_.lock();
00074   if (old_world)
00075     old_world->removeObserver(observer_handle_);
00076 
00077   world_.reset();
00078 }
00079 
00080 void collision_detection::WorldDiff::reset(const WorldPtr& world)
00081 {
00082   clearChanges();
00083 
00084   WorldPtr old_world = world_.lock();
00085   if (old_world)
00086     old_world->removeObserver(observer_handle_);
00087 
00088   boost::weak_ptr<World>(world).swap(world_);
00089   observer_handle_ = world->addObserver(boost::bind(&WorldDiff::notify, this, _1, _2));
00090 }
00091 
00092 void collision_detection::WorldDiff::setWorld(const WorldPtr& world)
00093 {
00094   WorldPtr old_world = world_.lock();
00095   if (old_world)
00096   {
00097     old_world->notifyObserverAllObjects(observer_handle_, World::DESTROY);
00098     old_world->removeObserver(observer_handle_);
00099   }
00100 
00101   boost::weak_ptr<World>(world).swap(world_);
00102 
00103   observer_handle_ = world->addObserver(boost::bind(&WorldDiff::notify, this, _1, _2));
00104   world->notifyObserverAllObjects(observer_handle_, World::CREATE|World::ADD_SHAPE);
00105 }
00106 
00107 void collision_detection::WorldDiff::clearChanges()
00108 {
00109   changes_.clear();
00110 }
00111 
00112 void collision_detection::WorldDiff::notify(const World::ObjectConstPtr& obj, World::Action action)
00113 {
00114   World::Action& a = changes_[obj->id_];
00115   if (action == World::DESTROY)
00116     a = World::DESTROY;
00117   else
00118     a = a | action;
00119 }


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Thu Aug 27 2015 13:58:53