locked_robot_state.cpp
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36 
37 /* Author: Ioan Sucan, Acorn Pooley */
38 
40 
41 robot_interaction::LockedRobotState::LockedRobotState(const robot_state::RobotState& state)
42  : state_(new robot_state::RobotState(state))
43 {
44  state_->update();
45 }
46 
47 robot_interaction::LockedRobotState::LockedRobotState(const robot_model::RobotModelPtr& model)
48  : state_(new robot_state::RobotState(model))
49 {
50  state_->setToDefaultValues();
51  state_->update();
52 }
53 
55 {
56 }
57 
58 robot_state::RobotStateConstPtr robot_interaction::LockedRobotState::getState() const
59 {
60  boost::mutex::scoped_lock lock(state_lock_);
61  return state_;
62 }
63 
64 void robot_interaction::LockedRobotState::setState(const robot_state::RobotState& state)
65 {
66  {
67  boost::mutex::scoped_lock lock(state_lock_);
68 
69  // If someone else has a reference to the state, then make a new copy.
70  // The old state is orphaned (does not change, but is now out of date).
71  if (state_.unique())
72  *state_ = state;
73  else
74  state_.reset(new robot_state::RobotState(state));
75 
76  state_->update();
77  }
79 }
80 
82 {
83  {
84  boost::mutex::scoped_lock lock(state_lock_);
85 
86  // If someone else has a reference to the state, then make a copy.
87  // The old state is orphaned (does not change, but is now out of date).
88  if (!state_.unique())
89  state_.reset(new robot_state::RobotState(*state_));
90 
91  modify(state_.get());
92  state_->update();
93  }
95 }
96 
98 {
99 }
robot_state::RobotStateConstPtr getState() const
get read-only access to the state.
void setState(const robot_state::RobotState &state)
Set the state to the new value.
LockedRobotState(const robot_state::RobotState &state)
void modifyState(const ModifyStateFunction &modify)
robot_state::RobotStatePtr state_
boost::function< void(robot_state::RobotState *)> ModifyStateFunction


robot_interaction
Author(s): Ioan Sucan
autogenerated on Wed Jul 18 2018 02:49:33