locked_robot_state.cpp
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00005  *  Copyright (c) 2013, Ioan A. Sucan
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00036 
00037 /* Author: Ioan Sucan, Acorn Pooley */
00038 
00039 #include <moveit/robot_interaction/locked_robot_state.h>
00040 
00041 robot_interaction::LockedRobotState::LockedRobotState(const robot_state::RobotState& state)
00042   : state_(new robot_state::RobotState(state))
00043 {
00044   state_->update();
00045 }
00046 
00047 robot_interaction::LockedRobotState::LockedRobotState(const robot_model::RobotModelPtr& model)
00048   : state_(new robot_state::RobotState(model))
00049 {
00050   state_->setToDefaultValues();
00051   state_->update();
00052 }
00053 
00054 robot_interaction::LockedRobotState::~LockedRobotState()
00055 {
00056 }
00057 
00058 robot_state::RobotStateConstPtr robot_interaction::LockedRobotState::getState() const
00059 {
00060   boost::mutex::scoped_lock lock(state_lock_);
00061   return state_;
00062 }
00063 
00064 void robot_interaction::LockedRobotState::setState(const robot_state::RobotState& state)
00065 {
00066   {
00067     boost::mutex::scoped_lock lock(state_lock_);
00068 
00069     // If someone else has a reference to the state, then make a new copy.
00070     // The old state is orphaned (does not change, but is now out of date).
00071     if (state_.unique())
00072       *state_ = state;
00073     else
00074       state_.reset(new robot_state::RobotState(state));
00075 
00076     state_->update();
00077   }
00078   robotStateChanged();
00079 }
00080 
00081 void robot_interaction::LockedRobotState::modifyState(const ModifyStateFunction& modify)
00082 {
00083   {
00084     boost::mutex::scoped_lock lock(state_lock_);
00085 
00086     // If someone else has a reference to the state, then make a copy.
00087     // The old state is orphaned (does not change, but is now out of date).
00088     if (!state_.unique())
00089       state_.reset(new robot_state::RobotState(*state_));
00090 
00091     modify(state_.get());
00092     state_->update();
00093   }
00094   robotStateChanged();
00095 }
00096 
00097 void robot_interaction::LockedRobotState::robotStateChanged()
00098 {
00099 }


robot_interaction
Author(s): Ioan Sucan
autogenerated on Mon Nov 26 2018 03:23:22