world_diff.h

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/* Author: Acorn Pooley, Ioan Sucan, Sachin Chitta */

#ifndef MOVEIT_COLLISION_DETECTION_WORLD_DIFF_
#define MOVEIT_COLLISION_DETECTION_WORLD_DIFF_

#include <moveit/collision_detection/world.h>
#include <moveit/macros/class_forward.h>

namespace collision_detection
{
MOVEIT_CLASS_FORWARD(WorldDiff);  // Defines WorldDiffPtr, ConstPtr, WeakPtr... etc

class WorldDiff
{
public:
  WorldDiff();

  WorldDiff(const WorldPtr& world);

  WorldDiff(WorldDiff& other);

  ~WorldDiff();

  void setWorld(const WorldPtr& world);

  void reset(const WorldPtr& world);

  void reset();

  const std::map<std::string, World::Action>& getChanges() const
  {
    return changes_;
  }

  typedef std::map<std::string, World::Action>::const_iterator const_iterator;
  const_iterator begin() const
  {
    return changes_.begin();
  }
  const_iterator end() const
  {
    return changes_.end();
  }
  size_t size() const
  {
    return changes_.size();
  }
  const_iterator find(const std::string& id) const
  {
    return changes_.find(id);
  }
  void set(const std::string& id, World::Action val)
  {
    if (val)
      changes_[id] = val;
    else
      changes_.erase(id);
  }

  void clearChanges();

private:
  void notify(const World::ObjectConstPtr&, World::Action);

  std::map<std::string, World::Action> changes_;

  /* observer handle for world callback */
  World::ObserverHandle observer_handle_;

  /* used to unregister the notifier */
  WorldWeakPtr world_;
};
}  // namespace collision_detection

#endif