world_diff.h
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34 
35 /* Author: Acorn Pooley, Ioan Sucan, Sachin Chitta */
36 
37 #ifndef MOVEIT_COLLISION_DETECTION_WORLD_DIFF_
38 #define MOVEIT_COLLISION_DETECTION_WORLD_DIFF_
39 
42 
43 namespace collision_detection
44 {
45 MOVEIT_CLASS_FORWARD(WorldDiff);
46 
48 class WorldDiff
49 {
50 public:
52  WorldDiff();
53 
55  WorldDiff(const WorldPtr& world);
56 
58  WorldDiff(WorldDiff& other);
59 
60  ~WorldDiff();
61 
65  void setWorld(const WorldPtr& world);
66 
69  void reset(const WorldPtr& world);
70 
72  void reset();
73 
75  const std::map<std::string, World::Action>& getChanges() const
76  {
77  return changes_;
78  }
79 
80  typedef std::map<std::string, World::Action>::const_iterator const_iterator;
82  const_iterator begin() const
83  {
84  return changes_.begin();
85  }
87  const_iterator end() const
88  {
89  return changes_.end();
90  }
92  size_t size() const
93  {
94  return changes_.size();
95  }
97  const_iterator find(const std::string& id) const
98  {
99  return changes_.find(id);
100  }
102  void set(const std::string& id, World::Action val)
103  {
104  if (val)
105  changes_[id] = val;
106  else
107  changes_.erase(id);
108  }
109 
111  void clearChanges();
112 
113 private:
115  void notify(const World::ObjectConstPtr&, World::Action);
116 
118  std::map<std::string, World::Action> changes_;
119 
120  /* observer handle for world callback */
122 
123  /* used to unregister the notifier */
124  WorldWeakPtr world_;
125 };
126 } // namespace collision_detection
127 
128 #endif
Maintain a diff list of changes that have happened to a World.
Definition: world_diff.h:48
std::map< std::string, World::Action >::const_iterator const_iterator
Definition: world_diff.h:80
const_iterator begin() const
Definition: world_diff.h:82
World::ObserverHandle observer_handle_
Definition: world_diff.h:121
const_iterator end() const
Definition: world_diff.h:87
Represents an action that occurred on an object in the world. Several bits may be set indicating seve...
Definition: world.h:195
MOVEIT_CLASS_FORWARD(AllowedCollisionMatrix)
const std::map< std::string, World::Action > & getChanges() const
Return all the changes that have been recorded.
Definition: world_diff.h:75
void reset()
Turn off recording and erase all previously recorded changes.
Definition: world_diff.cpp:70
Generic interface to collision detection.
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:93
void clearChanges()
Clear the internally maintained vector of changes.
Definition: world_diff.cpp:108
void notify(const World::ObjectConstPtr &, World::Action)
Notification function.
Definition: world_diff.cpp:113
const_iterator find(const std::string &id) const
Definition: world_diff.h:97
std::map< std::string, World::Action > changes_
Definition: world_diff.h:118


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Tue Sep 8 2020 04:12:46