fcl_collision_geometry_cache.h

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#ifndef TESSERACT_COLLISION_FCL_COLLISION_GEOMETRY_CACHE_H
#define TESSERACT_COLLISION_FCL_COLLISION_GEOMETRY_CACHE_H
 
#include <map>
#include <memory>
#include <mutex>
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <fcl/geometry/collision_geometry.h>
#include <boost/uuid/uuid.hpp>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_geometry/fwd.h>
 
namespace tesseract_collision::tesseract_collision_fcl
{
class FCLCollisionGeometryCache
{
public:
  static void insert(const std::shared_ptr<const tesseract_geometry::Geometry>& key,
                     const std::shared_ptr<fcl::CollisionGeometryd>& value);
 
  static std::shared_ptr<fcl::CollisionGeometryd> get(const std::shared_ptr<const tesseract_geometry::Geometry>& key);
 
  static void prune();
 
private:
  static std::map<boost::uuids::uuid, std::weak_ptr<fcl::CollisionGeometryd>> cache_;  // NOLINT
  static std::mutex mutex_;  // NOLINT
};
}  // namespace tesseract_collision::tesseract_collision_fcl
 
#endif  // TESSERACT_COLLISION_FCL_COLLISION_GEOMETRY_CACHE_H