world_diff.h
Go to the documentation of this file.
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 <moveit/macros/class_forward.h>
00042 #include <boost/weak_ptr.hpp>
00043 
00044 namespace collision_detection
00045 {
00046 MOVEIT_CLASS_FORWARD(WorldDiff);
00047 
00049 class WorldDiff
00050 {
00051 public:
00053   WorldDiff();
00054 
00056   WorldDiff(const WorldPtr& world);
00057 
00059   WorldDiff(WorldDiff& other);
00060 
00061   ~WorldDiff();
00062 
00066   void setWorld(const WorldPtr& world);
00067 
00070   void reset(const WorldPtr& world);
00071 
00073   void reset();
00074 
00076   const std::map<std::string, World::Action>& getChanges() const
00077   {
00078     return changes_;
00079   }
00080 
00081   typedef std::map<std::string, World::Action>::const_iterator const_iterator;
00083   const_iterator begin() const
00084   {
00085     return changes_.begin();
00086   }
00088   const_iterator end() const
00089   {
00090     return changes_.end();
00091   }
00093   size_t size() const
00094   {
00095     return changes_.size();
00096   }
00098   const_iterator find(const std::string& id) const
00099   {
00100     return changes_.find(id);
00101   }
00103   void set(const std::string& id, World::Action val)
00104   {
00105     if (val)
00106       changes_[id] = val;
00107     else
00108       changes_.erase(id);
00109   }
00110 
00112   void clearChanges();
00113 
00114 private:
00116   void notify(const World::ObjectConstPtr&, World::Action);
00117 
00119   std::map<std::string, World::Action> changes_;
00120 
00121   /* observer handle for world callback */
00122   World::ObserverHandle observer_handle_;
00123 
00124   /* used to unregister the notifier */
00125   boost::weak_ptr<World> world_;
00126 };
00127 }
00128 
00129 #endif


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