threadsafe_state_storage.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_OMPL_INTERFACE_DEATIL_THREADSAFE_STATE_STORAGE_
#define MOVEIT_OMPL_INTERFACE_DEATIL_THREADSAFE_STATE_STORAGE_

#include <moveit/robot_state/robot_state.h>
#include <boost/thread.hpp>

namespace ompl_interface
{

class TSStateStorage
{
public:

  TSStateStorage(const robot_model::RobotModelPtr &kmodel);
  TSStateStorage(const robot_state::RobotState &start_state);
  ~TSStateStorage();

  robot_state::RobotState* getStateStorage() const;

private:

  robot_state::RobotState                                       start_state_;
  mutable std::map<boost::thread::id, robot_state::RobotState*> thread_states_;
  mutable boost::mutex                                                  lock_;
};

}
#endif