job_processing.h

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/* Author: Mario Prats, Ioan Sucan */

#ifndef BT_JOB_PROCESSING_
#define BT_JOB_PROCESSING_

#include <moveit/background_processing/background_processing.h>

namespace benchmark_tool
{

class JobProcessing
{
public:

  static std::deque<boost::function<void(void)> > main_loop_jobs_;
  static boost::mutex main_loop_jobs_lock_;

  static moveit::tools::BackgroundProcessing background_process_;

  // pass the execution of this function call to a separate thread that runs in the background
  static void addBackgroundJob(const boost::function<void(void)> &job);

  // queue the execution of this function for the next time the main update() loop gets called
  static void addMainLoopJob(const boost::function<void(void)> &job);

  static void executeMainLoopJobs();
};


} //namespace

#endif