locked_robot_state.h
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00035 
00036 /* Author: Ioan Sucan, Acorn Pooley */
00037 
00038 #ifndef MOVEIT_ROBOT_INTERACTION_LOCKED_ROBOT_STATE_
00039 #define MOVEIT_ROBOT_INTERACTION_LOCKED_ROBOT_STATE_
00040 
00041 #include <moveit/macros/class_forward.h>
00042 #include <moveit/robot_state/robot_state.h>
00043 #include <boost/function.hpp>
00044 #include <boost/thread.hpp>
00045 
00046 namespace robot_interaction
00047 {
00048 MOVEIT_CLASS_FORWARD(LockedRobotState);
00049 
00051 //
00052 // Only allow one thread to modify the RobotState at a time.
00053 //
00054 // Allow any thread access to the RobotState when it is not being modified.  If
00055 // a (const) reference to the robot state is held when the RobotState needs to
00056 // be modified, a copy is made and the copy is modified.  Any externally held
00057 // references will be out of date but still valid.
00058 //
00059 // The RobotState can only be modified by passing a callback function which
00060 // does the modification.
00061 class LockedRobotState
00062 {
00063 public:
00064   LockedRobotState(const robot_state::RobotState& state);
00065   LockedRobotState(const robot_model::RobotModelPtr& model);
00066 
00067   virtual ~LockedRobotState();
00068 
00070   //
00071   // This state may go stale, meaning the maintained state has been updated,
00072   // but it will never be modified while the caller is holding a reference to
00073   // it.
00074   //
00075   // The transforms in the returned state will always be up to date.
00076   robot_state::RobotStateConstPtr getState() const;
00077 
00079   void setState(const robot_state::RobotState& state);
00080 
00081   // This is a function that can modify the maintained state.
00082   typedef boost::function<void(robot_state::RobotState*)> ModifyStateFunction;
00083 
00084   // Modify the state.
00085   //
00086   // This modifies the state by calling \e modify on it.
00087   // The \e modify function is passed a reference to the state which it can
00088   // modify.  No threads will be given access to the state while the \e modify
00089   // function is running.
00090   void modifyState(const ModifyStateFunction& modify);
00091 
00092 protected:
00093   // This is called when the internally maintained state has changed.
00094   // This is called with state_lock_ unlocked.
00095   // Default definition does nothing.  Override to get notification of state
00096   // change.
00097   // TODO: is this needed?
00098   virtual void robotStateChanged();
00099 
00100 protected:
00101   // this locks all accesses to the state_ member.
00102   // The lock can also be used by subclasses to lock additional fields.
00103   mutable boost::mutex state_lock_;
00104 
00105 private:
00106   // The state maintained by this class.
00107   // When a modify function is being called this is NULL.
00108   // PROTECTED BY state_lock_
00109   robot_state::RobotStatePtr state_;
00110 };
00111 }
00112 
00113 #endif


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