00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Acorn Pooley, Ioan Sucan, Sachin Chitta */ 00036 00037 #ifndef MOVEIT_COLLISION_DETECTION_WORLD_DIFF_ 00038 #define MOVEIT_COLLISION_DETECTION_WORLD_DIFF_ 00039 00040 #include <moveit/collision_detection/world.h> 00041 #include <boost/weak_ptr.hpp> 00042 00043 namespace collision_detection 00044 { 00045 00047 class WorldDiff 00048 { 00049 public: 00050 00052 WorldDiff(); 00053 00055 WorldDiff(const WorldPtr& world); 00056 00058 WorldDiff(WorldDiff &other); 00059 00060 ~WorldDiff(); 00061 00065 void setWorld(const WorldPtr& world); 00066 00069 void reset(const WorldPtr& world); 00070 00072 void reset(); 00073 00075 const std::map<std::string, World::Action>& getChanges() const 00076 { 00077 return changes_; 00078 } 00079 00080 typedef std::map<std::string, World::Action>::const_iterator const_iterator; 00082 const_iterator begin() const 00083 { 00084 return changes_.begin(); 00085 } 00087 const_iterator end() const 00088 { 00089 return changes_.end(); 00090 } 00092 size_t size() const 00093 { 00094 return changes_.size(); 00095 } 00097 const_iterator find(const std::string& id) const 00098 { 00099 return changes_.find(id); 00100 } 00102 void set(const std::string& id, World::Action val) 00103 { 00104 if (val) 00105 changes_[id] = val; 00106 else 00107 changes_.erase(id); 00108 } 00109 00111 void clearChanges(); 00112 00113 private: 00115 void notify(const World::ObjectConstPtr&, World::Action); 00116 00118 std::map<std::string, World::Action> changes_; 00119 00120 /* observer handle for world callback */ 00121 World::ObserverHandle observer_handle_; 00122 00123 /* used to unregister the notifier */ 00124 boost::weak_ptr<World> world_; 00125 }; 00126 00127 typedef boost::shared_ptr<WorldDiff> WorldDiffPtr; 00128 typedef boost::shared_ptr<const WorldDiff> WorldDiffConstPtr; 00129 } 00130 00131 #endif