world_diff.cpp

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/* Author: Acorn Pooley, Ioan Sucan */
 
#include <moveit/collision_detection/world_diff.h>
#include <functional>
 
namespace collision_detection
{
WorldDiff::~WorldDiff()
{
  WorldPtr old_world = world_.lock();
  if (old_world)
    old_world->removeObserver(observer_handle_);
}
 
WorldDiff::WorldDiff()
{
}
 
WorldDiff::WorldDiff(const WorldPtr& world) : world_(world)
{
  observer_handle_ =
      world->addObserver([this](const World::ObjectConstPtr& object, World::Action action) { notify(object, action); });
}
 
WorldDiff::WorldDiff(WorldDiff& other)
{
  WorldPtr world = other.world_.lock();
  if (world)
  {
    changes_ = other.changes_;
 
    WorldWeakPtr(world).swap(world_);
    observer_handle_ = world->addObserver(
        [this](const World::ObjectConstPtr& object, World::Action action) { notify(object, action); });
  }
}
 
void WorldDiff::reset()
{
  clearChanges();
 
  WorldPtr old_world = world_.lock();
  if (old_world)
    old_world->removeObserver(observer_handle_);
 
  world_.reset();
}
 
void WorldDiff::reset(const WorldPtr& world)
{
  clearChanges();
 
  WorldPtr old_world = world_.lock();
  if (old_world)
    old_world->removeObserver(observer_handle_);
 
  WorldWeakPtr(world).swap(world_);
  observer_handle_ =
      world->addObserver([this](const World::ObjectConstPtr& object, World::Action action) { notify(object, action); });
}
 
void WorldDiff::setWorld(const WorldPtr& world)
{
  WorldPtr old_world = world_.lock();
  if (old_world)
  {
    old_world->notifyObserverAllObjects(observer_handle_, World::DESTROY);
    old_world->removeObserver(observer_handle_);
  }
 
  WorldWeakPtr(world).swap(world_);
 
  observer_handle_ =
      world->addObserver([this](const World::ObjectConstPtr& object, World::Action action) { notify(object, action); });
  world->notifyObserverAllObjects(observer_handle_, World::CREATE | World::ADD_SHAPE);
}
 
void WorldDiff::clearChanges()
{
  changes_.clear();
}
 
void WorldDiff::notify(const World::ObjectConstPtr& obj, World::Action action)
{
  World::Action& a = changes_[obj->id_];
  if (action == World::DESTROY)
  {
    a = World::DESTROY;
  }
  else
  {
    a = a | action;
  }
}
 
}  // end of namespace collision_detection