common_objects.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <moveit/common_planning_interface_objects/common_objects.h>
00038 #include <moveit/robot_model_loader/robot_model_loader.h>
00039 #include <tf/transform_listener.h>
00040 
00041 namespace
00042 {
00043 struct SharedStorage
00044 {
00045   SharedStorage()
00046   {
00047   }
00048 
00049   ~SharedStorage()
00050   {
00051     tf_.reset();
00052     state_monitors_.clear();
00053     model_loaders_.clear();
00054   }
00055 
00056   boost::mutex lock_;
00057   boost::shared_ptr<tf::Transformer> tf_;
00058   std::map<std::string, robot_model_loader::RobotModelLoaderPtr> model_loaders_;
00059   std::map<std::string, planning_scene_monitor::CurrentStateMonitorPtr> state_monitors_;
00060 };
00061 
00062 SharedStorage& getSharedStorage()
00063 {
00064   static SharedStorage storage;
00065   return storage;
00066 }
00067 }
00068 
00069 namespace moveit
00070 {
00071 namespace planning_interface
00072 {
00073 
00074 boost::shared_ptr<tf::Transformer> getSharedTF()
00075 {
00076   SharedStorage &s = getSharedStorage();
00077   boost::mutex::scoped_lock slock(s.lock_);
00078   if (!s.tf_)
00079     s.tf_.reset(new tf::TransformListener());
00080   return s.tf_;
00081 }
00082 
00083 robot_model::RobotModelConstPtr getSharedRobotModel(const std::string &robot_description)
00084 {
00085   SharedStorage &s = getSharedStorage();
00086   boost::mutex::scoped_lock slock(s.lock_);
00087   if (s.model_loaders_.find(robot_description) != s.model_loaders_.end())
00088     return s.model_loaders_[robot_description]->getModel();
00089   else
00090   {
00091     robot_model_loader::RobotModelLoader::Options opt(robot_description);
00092     opt.load_kinematics_solvers_ = true;
00093     robot_model_loader::RobotModelLoaderPtr loader(new robot_model_loader::RobotModelLoader(opt));
00094     s.model_loaders_[robot_description] = loader;
00095     return loader->getModel();
00096   }
00097 }
00098 
00099 planning_scene_monitor::CurrentStateMonitorPtr getSharedStateMonitor(const robot_model::RobotModelConstPtr &kmodel, const boost::shared_ptr<tf::Transformer> &tf)
00100 {
00101   SharedStorage &s = getSharedStorage();
00102   boost::mutex::scoped_lock slock(s.lock_);
00103   if (s.state_monitors_.find(kmodel->getName()) != s.state_monitors_.end())
00104     return s.state_monitors_[kmodel->getName()];
00105   else
00106   {
00107     planning_scene_monitor::CurrentStateMonitorPtr monitor(new planning_scene_monitor::CurrentStateMonitor(kmodel, tf));
00108     s.state_monitors_[kmodel->getName()] = monitor;
00109     return monitor;
00110   }
00111 }
00112 
00113 } // namespace planning_interface
00114 } // namespace moveit


planning_interface
Author(s): Ioan Sucan
autogenerated on Wed Aug 26 2015 12:44:13