threadsafe_state_storage.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/robot_state/robot_state.h>
#include <thread>
#include <mutex>
 
namespace ompl_interface
{
class TSStateStorage
{
public:
  TSStateStorage(const moveit::core::RobotModelPtr& robot_model);
  TSStateStorage(const moveit::core::RobotState& start_state);
  ~TSStateStorage();
 
  moveit::core::RobotState* getStateStorage() const;
 
private:
  moveit::core::RobotState start_state_;
  mutable std::map<std::thread::id, moveit::core::RobotState*> thread_states_;
  mutable std::mutex lock_;
};
}  // namespace ompl_interface