threadsafe_state_storage.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_OMPL_INTERFACE_DEATIL_THREADSAFE_STATE_STORAGE_
00038 #define MOVEIT_OMPL_INTERFACE_DEATIL_THREADSAFE_STATE_STORAGE_
00039 
00040 #include <moveit/robot_state/robot_state.h>
00041 #include <boost/thread.hpp>
00042 
00043 namespace ompl_interface
00044 {
00045 class TSStateStorage
00046 {
00047 public:
00048   TSStateStorage(const robot_model::RobotModelPtr& kmodel);
00049   TSStateStorage(const robot_state::RobotState& start_state);
00050   ~TSStateStorage();
00051 
00052   robot_state::RobotState* getStateStorage() const;
00053 
00054 private:
00055   robot_state::RobotState start_state_;
00056   mutable std::map<boost::thread::id, robot_state::RobotState*> thread_states_;
00057   mutable boost::mutex lock_;
00058 };
00059 }
00060 #endif


ompl
Author(s): Ioan Sucan
autogenerated on Fri Dec 14 2018 03:32:46