This is a convenience class for obtaining access to an instance of a locked PlanningScene. More...
#include <planning_scene_monitor.h>
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struct | SingleUnlock |
Public Member Functions | |
const PlanningSceneMonitorPtr & | getPlanningSceneMonitor () |
LockedPlanningSceneRO (const PlanningSceneMonitorPtr &planning_scene_monitor) | |
operator bool () const | |
operator const planning_scene::PlanningSceneConstPtr & () const | |
const planning_scene::PlanningSceneConstPtr & | operator-> () const |
Protected Member Functions | |
void | initialize (bool read_only) |
LockedPlanningSceneRO (const PlanningSceneMonitorPtr &planning_scene_monitor, bool read_only) | |
MOVEIT_CLASS_FORWARD (SingleUnlock) | |
Protected Attributes | |
SingleUnlockPtr | lock_ |
PlanningSceneMonitorPtr | planning_scene_monitor_ |
This is a convenience class for obtaining access to an instance of a locked PlanningScene.
Instances of this class can be used almost exactly like instances of a PlanningScenePtr because of the typecast operator and "operator->" functions. Therefore you will often see code like this:
The function "getRobotModel()" is a member of PlanningScene and not a member of this class. However because of the "operator->" here which returns a PlanningSceneConstPtr, this works.
Any number of these "ReadOnly" locks can exist at a given time. The intention is that users which only need to read from the PlanningScene will use these and will thus not interfere with each other.
Definition at line 598 of file planning_scene_monitor.h.
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Definition at line 601 of file planning_scene_monitor.h.
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Definition at line 628 of file planning_scene_monitor.h.
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Definition at line 607 of file planning_scene_monitor.h.
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Definition at line 634 of file planning_scene_monitor.h.
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Definition at line 612 of file planning_scene_monitor.h.
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Definition at line 617 of file planning_scene_monitor.h.
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Definition at line 622 of file planning_scene_monitor.h.
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Definition at line 666 of file planning_scene_monitor.h.
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Definition at line 665 of file planning_scene_monitor.h.