common_objects.cpp

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/* Author: Ioan Sucan */

#include <moveit/common_planning_interface_objects/common_objects.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <tf/transform_listener.h>

namespace
{
struct SharedStorage
{
  SharedStorage()
  {
  }

  ~SharedStorage()
  {
    tf_.reset();
    state_monitors_.clear();
    model_loaders_.clear();
  }

  boost::mutex lock_;
  boost::shared_ptr<tf::Transformer> tf_;
  std::map<std::string, robot_model_loader::RobotModelLoaderPtr> model_loaders_;
  std::map<std::string, planning_scene_monitor::CurrentStateMonitorPtr> state_monitors_;
};

SharedStorage& getSharedStorage()
{
#if 0  // destruction of static storage interferes with static destruction in class_loader
  // More specifically, class_loader's static variables might be already destroyed
  // while being accessed again in the destructor of the class_loader-based kinematics plugin.
  static SharedStorage storage;
  return storage;
#else  // thus avoid destruction at all (until class_loader is fixed)
  static SharedStorage* storage = new SharedStorage;
  return *storage;
#endif
}
}

namespace moveit
{
namespace planning_interface
{
boost::shared_ptr<tf::Transformer> getSharedTF()
{
  SharedStorage& s = getSharedStorage();
  boost::mutex::scoped_lock slock(s.lock_);
  if (!s.tf_)
    s.tf_.reset(new tf::TransformListener());
  return s.tf_;
}

robot_model::RobotModelConstPtr getSharedRobotModel(const std::string& robot_description)
{
  SharedStorage& s = getSharedStorage();
  boost::mutex::scoped_lock slock(s.lock_);
  if (s.model_loaders_.find(robot_description) != s.model_loaders_.end())
    return s.model_loaders_[robot_description]->getModel();
  else
  {
    robot_model_loader::RobotModelLoader::Options opt(robot_description);
    opt.load_kinematics_solvers_ = true;
    robot_model_loader::RobotModelLoaderPtr loader(new robot_model_loader::RobotModelLoader(opt));
    s.model_loaders_[robot_description] = loader;
    return loader->getModel();
  }
}

planning_scene_monitor::CurrentStateMonitorPtr getSharedStateMonitor(const robot_model::RobotModelConstPtr& kmodel,
                                                                     const boost::shared_ptr<tf::Transformer>& tf)
{
  return getSharedStateMonitor(kmodel, tf, ros::NodeHandle());
}

planning_scene_monitor::CurrentStateMonitorPtr getSharedStateMonitor(const robot_model::RobotModelConstPtr& kmodel,
                                                                     const boost::shared_ptr<tf::Transformer>& tf,
                                                                     ros::NodeHandle nh)
{
  SharedStorage& s = getSharedStorage();
  boost::mutex::scoped_lock slock(s.lock_);
  if (s.state_monitors_.find(kmodel->getName()) != s.state_monitors_.end())
    return s.state_monitors_[kmodel->getName()];
  else
  {
    planning_scene_monitor::CurrentStateMonitorPtr monitor(
        new planning_scene_monitor::CurrentStateMonitor(kmodel, tf, nh));
    s.state_monitors_[kmodel->getName()] = monitor;
    return monitor;
  }
}

}  // namespace planning_interface
}  // namespace moveit