threadsafe_state_storage.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <moveit/ompl_interface/detail/threadsafe_state_storage.h>
00038 
00039 ompl_interface::TSStateStorage::TSStateStorage(const robot_model::RobotModelPtr& kmodel) : start_state_(kmodel)
00040 {
00041   start_state_.setToDefaultValues();
00042 }
00043 
00044 ompl_interface::TSStateStorage::TSStateStorage(const robot_state::RobotState& start_state) : start_state_(start_state)
00045 {
00046 }
00047 
00048 ompl_interface::TSStateStorage::~TSStateStorage()
00049 {
00050   for (std::map<boost::thread::id, robot_state::RobotState*>::iterator it = thread_states_.begin();
00051        it != thread_states_.end(); ++it)
00052     delete it->second;
00053 }
00054 
00055 robot_state::RobotState* ompl_interface::TSStateStorage::getStateStorage() const
00056 {
00057   robot_state::RobotState* st = NULL;
00058   boost::mutex::scoped_lock slock(lock_);  
00059   std::map<boost::thread::id, robot_state::RobotState*>::const_iterator it =
00060       thread_states_.find(boost::this_thread::get_id());
00061   if (it == thread_states_.end())
00062   {
00063     st = new robot_state::RobotState(start_state_);
00064     thread_states_[boost::this_thread::get_id()] = st;
00065   }
00066   else
00067     st = it->second;
00068   return st;
00069 }


ompl
Author(s): Ioan Sucan
autogenerated on Mon Apr 23 2018 10:25:27