planning_scene_monitor::LockedPlanningSceneRO Class Reference

This is a convenience class for obtaining access to an instance of a locked PlanningScene. More...

#include <planning_scene_monitor.h>

Inheritance diagram for planning_scene_monitor::LockedPlanningSceneRO:

List of all members.

Classes
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)
Protected Attributes
boost::shared_ptr< SingleUnlock >	lock_
PlanningSceneMonitorPtr	planning_scene_monitor_

---

Detailed Description

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:

   planning_scene_monitor::LockedPlanningSceneRO ls(planning_scene_monitor);
   robot_model::RobotModelConstPtr model = ls->getRobotModel();

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.

See also:

LockedPlanningSceneRW

Definition at line 538 of file planning_scene_monitor.h.

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Constructor & Destructor Documentation

planning_scene_monitor::LockedPlanningSceneRO::LockedPlanningSceneRO

(

const PlanningSceneMonitorPtr &

planning_scene_monitor

)

[inline]

Definition at line 542 of file planning_scene_monitor.h.

planning_scene_monitor::LockedPlanningSceneRO::LockedPlanningSceneRO	(	const PlanningSceneMonitorPtr &	planning_scene_monitor,
		bool	read_only
	)		[inline, protected]

Definition at line 570 of file planning_scene_monitor.h.

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Member Function Documentation

const PlanningSceneMonitorPtr& planning_scene_monitor::LockedPlanningSceneRO::getPlanningSceneMonitor

(

)

[inline]

Definition at line 548 of file planning_scene_monitor.h.

void planning_scene_monitor::LockedPlanningSceneRO::initialize

(

bool

read_only

)

[inline, protected]

Definition at line 576 of file planning_scene_monitor.h.

planning_scene_monitor::LockedPlanningSceneRO::operator bool

(

)

const [inline]

Definition at line 553 of file planning_scene_monitor.h.

planning_scene_monitor::LockedPlanningSceneRO::operator const planning_scene::PlanningSceneConstPtr &

(

)

const [inline]

Definition at line 558 of file planning_scene_monitor.h.

const planning_scene::PlanningSceneConstPtr& planning_scene_monitor::LockedPlanningSceneRO::operator->

(

)

const [inline]

Definition at line 563 of file planning_scene_monitor.h.

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Member Data Documentation

boost::shared_ptr<SingleUnlock> planning_scene_monitor::LockedPlanningSceneRO::lock_ [protected]

Definition at line 606 of file planning_scene_monitor.h.

PlanningSceneMonitorPtr planning_scene_monitor::LockedPlanningSceneRO::planning_scene_monitor_ [protected]

Definition at line 605 of file planning_scene_monitor.h.

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The documentation for this class was generated from the following file:

• planning_scene_monitor.h