world_diff.cpp

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/* Author: Acorn Pooley, Ioan Sucan */

#include <moveit/collision_detection/world_diff.h>
#include <boost/bind.hpp>

collision_detection::WorldDiff::~WorldDiff()
{
  WorldPtr old_world = world_.lock();
  if (old_world)
    old_world->removeObserver(observer_handle_);
}

collision_detection::WorldDiff::WorldDiff()
{
}

collision_detection::WorldDiff::WorldDiff(const WorldPtr& world) : world_(world)
{
  observer_handle_ = world->addObserver(boost::bind(&WorldDiff::notify, this, _1, _2));
}

collision_detection::WorldDiff::WorldDiff(WorldDiff& other)
{
  WorldPtr world = other.world_.lock();
  if (world)
  {
    changes_ = other.changes_;

    boost::weak_ptr<World>(world).swap(world_);
    observer_handle_ = world->addObserver(boost::bind(&WorldDiff::notify, this, _1, _2));
  }
}

void collision_detection::WorldDiff::reset()
{
  clearChanges();

  WorldPtr old_world = world_.lock();
  if (old_world)
    old_world->removeObserver(observer_handle_);

  world_.reset();
}

void collision_detection::WorldDiff::reset(const WorldPtr& world)
{
  clearChanges();

  WorldPtr old_world = world_.lock();
  if (old_world)
    old_world->removeObserver(observer_handle_);

  boost::weak_ptr<World>(world).swap(world_);
  observer_handle_ = world->addObserver(boost::bind(&WorldDiff::notify, this, _1, _2));
}

void collision_detection::WorldDiff::setWorld(const WorldPtr& world)
{
  WorldPtr old_world = world_.lock();
  if (old_world)
  {
    old_world->notifyObserverAllObjects(observer_handle_, World::DESTROY);
    old_world->removeObserver(observer_handle_);
  }

  boost::weak_ptr<World>(world).swap(world_);

  observer_handle_ = world->addObserver(boost::bind(&WorldDiff::notify, this, _1, _2));
  world->notifyObserverAllObjects(observer_handle_, World::CREATE | World::ADD_SHAPE);
}

void collision_detection::WorldDiff::clearChanges()
{
  changes_.clear();
}

void collision_detection::WorldDiff::notify(const World::ObjectConstPtr& obj, World::Action action)
{
  World::Action& a = changes_[obj->id_];
  if (action == World::DESTROY)
    a = World::DESTROY;
  else
    a = a | action;
}