threadsafe_state_storage.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_OMPL_INTERFACE_DEATIL_THREADSAFE_STATE_STORAGE_
00038 #define MOVEIT_OMPL_INTERFACE_DEATIL_THREADSAFE_STATE_STORAGE_
00039 
00040 #include <moveit/robot_state/robot_state.h>
00041 #include <boost/thread.hpp>
00042 
00043 namespace ompl_interface
00044 {
00045 
00046 class TSStateStorage
00047 {
00048 public:
00049 
00050   TSStateStorage(const robot_model::RobotModelPtr &kmodel);
00051   TSStateStorage(const robot_state::RobotState &start_state);
00052   ~TSStateStorage();
00053 
00054   robot_state::RobotState* getStateStorage() const;
00055 
00056 private:
00057 
00058   robot_state::RobotState                                       start_state_;
00059   mutable std::map<boost::thread::id, robot_state::RobotState*> thread_states_;
00060   mutable boost::mutex                                                  lock_;
00061 };
00062 
00063 }
00064 #endif


ompl
Author(s): Ioan Sucan
autogenerated on Wed Sep 16 2015 04:42:27