threadsafe_state_storage.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_OMPL_INTERFACE_DEATIL_THREADSAFE_STATE_STORAGE_
38 #define MOVEIT_OMPL_INTERFACE_DEATIL_THREADSAFE_STATE_STORAGE_
39 
41 #include <boost/thread.hpp>
42 
43 namespace ompl_interface
44 {
46 {
47 public:
48  TSStateStorage(const robot_model::RobotModelPtr& kmodel);
49  TSStateStorage(const robot_state::RobotState& start_state);
51 
52  robot_state::RobotState* getStateStorage() const;
53 
54 private:
55  robot_state::RobotState start_state_;
56  mutable std::map<boost::thread::id, robot_state::RobotState*> thread_states_;
57  mutable boost::mutex lock_;
58 };
59 }
60 #endif
TSStateStorage(const robot_model::RobotModelPtr &kmodel)
The MoveIt interface to OMPL.
robot_state::RobotState * getStateStorage() const
std::map< boost::thread::id, robot_state::RobotState * > thread_states_


ompl
Author(s): Ioan Sucan
autogenerated on Mon Jan 15 2018 03:51:38