world_diff.cpp
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34 
35 /* Author: Acorn Pooley, Ioan Sucan */
36 
38 #include <boost/bind.hpp>
39 
41 {
42  WorldPtr old_world = world_.lock();
43  if (old_world)
44  old_world->removeObserver(observer_handle_);
45 }
46 
48 {
49 }
50 
51 collision_detection::WorldDiff::WorldDiff(const WorldPtr& world) : world_(world)
52 {
53  observer_handle_ = world->addObserver(boost::bind(&WorldDiff::notify, this, _1, _2));
54 }
55 
57 {
58  WorldPtr world = other.world_.lock();
59  if (world)
60  {
61  changes_ = other.changes_;
62 
63  std::weak_ptr<World>(world).swap(world_);
64  observer_handle_ = world->addObserver(boost::bind(&WorldDiff::notify, this, _1, _2));
65  }
66 }
67 
69 {
70  clearChanges();
71 
72  WorldPtr old_world = world_.lock();
73  if (old_world)
74  old_world->removeObserver(observer_handle_);
75 
76  world_.reset();
77 }
78 
79 void collision_detection::WorldDiff::reset(const WorldPtr& world)
80 {
81  clearChanges();
82 
83  WorldPtr old_world = world_.lock();
84  if (old_world)
85  old_world->removeObserver(observer_handle_);
86 
87  std::weak_ptr<World>(world).swap(world_);
88  observer_handle_ = world->addObserver(boost::bind(&WorldDiff::notify, this, _1, _2));
89 }
90 
91 void collision_detection::WorldDiff::setWorld(const WorldPtr& world)
92 {
93  WorldPtr old_world = world_.lock();
94  if (old_world)
95  {
96  old_world->notifyObserverAllObjects(observer_handle_, World::DESTROY);
97  old_world->removeObserver(observer_handle_);
98  }
99 
100  std::weak_ptr<World>(world).swap(world_);
101 
102  observer_handle_ = world->addObserver(boost::bind(&WorldDiff::notify, this, _1, _2));
103  world->notifyObserverAllObjects(observer_handle_, World::CREATE | World::ADD_SHAPE);
104 }
105 
107 {
108  changes_.clear();
109 }
110 
111 void collision_detection::WorldDiff::notify(const World::ObjectConstPtr& obj, World::Action action)
112 {
113  World::Action& a = changes_[obj->id_];
114  if (action == World::DESTROY)
115  a = World::DESTROY;
116  else
117  a = a | action;
118 }
Maintain a diff list of changes that have happened to a World.
Definition: world_diff.h:50
World::ObserverHandle observer_handle_
Definition: world_diff.h:123
Represents an action that occurred on an object in the world. Several bits may be set indicating seve...
Definition: world.h:192
void reset()
Turn off recording and erase all previously recorded changes.
Definition: world_diff.cpp:68
void setWorld(const WorldPtr &world)
Set which world to record. Records all objects in old world (if any) as DESTROYED and all objects in ...
Definition: world_diff.cpp:91
void clearChanges()
Clear the internally maintained vector of changes.
Definition: world_diff.cpp:106
void notify(const World::ObjectConstPtr &, World::Action)
Notification function.
Definition: world_diff.cpp:111
std::weak_ptr< World > world_
Definition: world_diff.h:126
std::map< std::string, World::Action > changes_
Definition: world_diff.h:120


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sat Apr 21 2018 02:54:52