threadsafe_state_storage.cpp

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/* Author: Ioan Sucan */

#include <moveit/ompl_interface/detail/threadsafe_state_storage.h>

ompl_interface::TSStateStorage::TSStateStorage(const robot_model::RobotModelPtr &kmodel) : start_state_(kmodel)
{
  start_state_.setToDefaultValues();
}

ompl_interface::TSStateStorage::TSStateStorage(const robot_state::RobotState &start_state) : start_state_(start_state)
{
}

ompl_interface::TSStateStorage::~TSStateStorage()
{
  for (std::map<boost::thread::id, robot_state::RobotState*>::iterator it = thread_states_.begin() ; it != thread_states_.end() ; ++it)
    delete it->second;
}

robot_state::RobotState* ompl_interface::TSStateStorage::getStateStorage() const
{
  robot_state::RobotState *st = NULL;
  boost::mutex::scoped_lock slock(lock_);
  std::map<boost::thread::id, robot_state::RobotState*>::const_iterator it = thread_states_.find(boost::this_thread::get_id());
  if (it == thread_states_.end())
  {
    st = new robot_state::RobotState(start_state_);
    thread_states_[boost::this_thread::get_id()] = st;
  }
  else
    st = it->second;
  return st;
}