locked_robot_state.cpp
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00005  *  Copyright (c) 2013, Ioan A. Sucan
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00036 
00037 /* Author: Ioan Sucan, Acorn Pooley */
00038 
00039 #include <moveit/robot_interaction/locked_robot_state.h>
00040 
00041 robot_interaction::LockedRobotState::LockedRobotState(
00042       const robot_state::RobotState& state)
00043 : state_(new robot_state::RobotState(state))
00044 {
00045   state_->update();
00046 }
00047 
00048 robot_interaction::LockedRobotState::LockedRobotState(
00049       const robot_model::RobotModelPtr& model)
00050 : state_(new robot_state::RobotState(model))
00051 {
00052   state_->setToDefaultValues();
00053   state_->update();
00054 }
00055 
00056 robot_interaction::LockedRobotState::~LockedRobotState()
00057 {}
00058 
00059 
00060 robot_state::RobotStateConstPtr
00061   robot_interaction::LockedRobotState::getState() const
00062 {
00063   boost::mutex::scoped_lock lock(state_lock_);
00064   return state_;
00065 }
00066 
00067 void robot_interaction::LockedRobotState::setState(
00068       const robot_state::RobotState& state)
00069 {
00070   {
00071     boost::mutex::scoped_lock lock(state_lock_);
00072 
00073     // If someone else has a reference to the state, then make a new copy.
00074     // The old state is orphaned (does not change, but is now out of date).
00075     if (state_.unique())
00076       *state_ = state;
00077     else
00078       state_.reset(new robot_state::RobotState(state));
00079 
00080     state_->update();
00081   }
00082   robotStateChanged();
00083 }
00084 
00085 void robot_interaction::LockedRobotState::modifyState(
00086       const ModifyStateFunction& modify)
00087 {
00088   {
00089     boost::mutex::scoped_lock lock(state_lock_);
00090 
00091     // If someone else has a reference to the state, then make a copy.
00092     // The old state is orphaned (does not change, but is now out of date).
00093     if (!state_.unique())
00094       state_.reset(new robot_state::RobotState(*state_));
00095 
00096     modify(state_.get());
00097     state_->update();
00098   }
00099   robotStateChanged();
00100 }
00101 
00102 void robot_interaction::LockedRobotState::robotStateChanged()
00103 {}


robot_interaction
Author(s): Ioan Sucan
autogenerated on Wed Aug 26 2015 12:44:19