threadsafe_state_storage.cpp
Go to the documentation of this file.
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Willow Garage nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *********************************************************************/
34 
35 /* Author: Ioan Sucan */
36 
38 
39 ompl_interface::TSStateStorage::TSStateStorage(const robot_model::RobotModelPtr& kmodel) : start_state_(kmodel)
40 {
41  start_state_.setToDefaultValues();
42 }
43 
44 ompl_interface::TSStateStorage::TSStateStorage(const robot_state::RobotState& start_state) : start_state_(start_state)
45 {
46 }
47 
49 {
50  for (std::map<boost::thread::id, robot_state::RobotState*>::iterator it = thread_states_.begin();
51  it != thread_states_.end(); ++it)
52  delete it->second;
53 }
54 
55 robot_state::RobotState* ompl_interface::TSStateStorage::getStateStorage() const
56 {
57  robot_state::RobotState* st = NULL;
58  boost::mutex::scoped_lock slock(lock_);
59  std::map<boost::thread::id, robot_state::RobotState*>::const_iterator it =
60  thread_states_.find(boost::this_thread::get_id());
61  if (it == thread_states_.end())
62  {
63  st = new robot_state::RobotState(start_state_);
64  thread_states_[boost::this_thread::get_id()] = st;
65  }
66  else
67  st = it->second;
68  return st;
69 }
TSStateStorage(const robot_model::RobotModelPtr &kmodel)
robot_state::RobotState * getStateStorage() const
std::map< boost::thread::id, robot_state::RobotState * > thread_states_


ompl
Author(s): Ioan Sucan
autogenerated on Wed Apr 18 2018 02:49:46