world_diff.cpp
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00034 
00035 /* Author: Acorn Pooley, Ioan Sucan */
00036 
00037 #include <moveit/collision_detection/world_diff.h>
00038 #include <boost/bind.hpp>
00039 
00040 collision_detection::WorldDiff::~WorldDiff()
00041 {
00042   WorldPtr old_world = world_.lock();
00043   if (old_world)
00044     old_world->removeObserver(observer_handle_);
00045 }
00046 
00047 collision_detection::WorldDiff::WorldDiff()
00048 {
00049 }
00050 
00051 collision_detection::WorldDiff::WorldDiff(const WorldPtr& world) : world_(world)
00052 {
00053   observer_handle_ = world->addObserver(boost::bind(&WorldDiff::notify, this, _1, _2));
00054 }
00055 
00056 collision_detection::WorldDiff::WorldDiff(WorldDiff& other)
00057 {
00058   WorldPtr world = other.world_.lock();
00059   if (world)
00060   {
00061     changes_ = other.changes_;
00062 
00063     boost::weak_ptr<World>(world).swap(world_);
00064     observer_handle_ = world->addObserver(boost::bind(&WorldDiff::notify, this, _1, _2));
00065   }
00066 }
00067 
00068 void collision_detection::WorldDiff::reset()
00069 {
00070   clearChanges();
00071 
00072   WorldPtr old_world = world_.lock();
00073   if (old_world)
00074     old_world->removeObserver(observer_handle_);
00075 
00076   world_.reset();
00077 }
00078 
00079 void collision_detection::WorldDiff::reset(const WorldPtr& world)
00080 {
00081   clearChanges();
00082 
00083   WorldPtr old_world = world_.lock();
00084   if (old_world)
00085     old_world->removeObserver(observer_handle_);
00086 
00087   boost::weak_ptr<World>(world).swap(world_);
00088   observer_handle_ = world->addObserver(boost::bind(&WorldDiff::notify, this, _1, _2));
00089 }
00090 
00091 void collision_detection::WorldDiff::setWorld(const WorldPtr& world)
00092 {
00093   WorldPtr old_world = world_.lock();
00094   if (old_world)
00095   {
00096     old_world->notifyObserverAllObjects(observer_handle_, World::DESTROY);
00097     old_world->removeObserver(observer_handle_);
00098   }
00099 
00100   boost::weak_ptr<World>(world).swap(world_);
00101 
00102   observer_handle_ = world->addObserver(boost::bind(&WorldDiff::notify, this, _1, _2));
00103   world->notifyObserverAllObjects(observer_handle_, World::CREATE | World::ADD_SHAPE);
00104 }
00105 
00106 void collision_detection::WorldDiff::clearChanges()
00107 {
00108   changes_.clear();
00109 }
00110 
00111 void collision_detection::WorldDiff::notify(const World::ObjectConstPtr& obj, World::Action action)
00112 {
00113   World::Action& a = changes_[obj->id_];
00114   if (action == World::DESTROY)
00115     a = World::DESTROY;
00116   else
00117     a = a | action;
00118 }


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Apr 23 2018 10:24:45