Class LockedRobotState

• Defined in File locked_robot_state.h

Inheritance Relationships

Derived Type

• public robot_interaction::InteractionHandler (Class InteractionHandler)

Class Documentation

class LockedRobotState

Maintain a RobotState in a multithreaded environment.

Subclassed by robot_interaction::InteractionHandler

Public Types

typedef std::function<void(moveit::core::RobotState*)> ModifyStateFunction

Public Functions

LockedRobotState(const moveit::core::RobotState &state)

LockedRobotState(const moveit::core::RobotModelPtr &model)

virtual ~LockedRobotState()

moveit::core::RobotStateConstPtr getState() const

get read-only access to the state.

void setState(const moveit::core::RobotState &state)

Set the state to the new value.

void modifyState(const ModifyStateFunction &modify)

Protected Functions

virtual void robotStateChanged()

Protected Attributes

mutable std::mutex state_lock_