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