[Personalrobots-commit] SF.net SVN: personalrobots:[18779] pkg/trunk/motion_planning/ planning_environment

[<is...@us...>]

Revision: 18779
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=18779&view=rev
Author:   isucan
Date:     2009-07-14 20:33:19 +0000 (Tue, 14 Jul 2009)

Log Message:
-----------
callback for objects in map

Modified Paths:
--------------
    pkg/trunk/motion_planning/planning_environment/include/planning_environment/monitors/collision_space_monitor.h
    pkg/trunk/motion_planning/planning_environment/src/monitors/collision_space_monitor.cpp

Modified: pkg/trunk/motion_planning/planning_environment/include/planning_environment/monitors/collision_space_monitor.h
===================================================================
--- pkg/trunk/motion_planning/planning_environment/include/planning_environment/monitors/collision_space_monitor.h	2009-07-14 20:24:30 UTC (rev 18778)
+++ pkg/trunk/motion_planning/planning_environment/include/planning_environment/monitors/collision_space_monitor.h	2009-07-14 20:33:19 UTC (rev 18779)
@@ -100,6 +100,12 @@
 	    onAfterMapUpdate_ = callback;
 	}
 
+	/** \brief Define a callback for updates to the objects in the map */
+	void setOnObjectInMapUpdateCallback(const boost::function<void(const mapping_msgs::ObjectInMapConstPtr)> &callback)
+	{
+	    onObjectInMapUpdate_ = callback;
+	}
+
 	/** \brief Return true if  map has been received */
 	bool haveMap(void) const
 	{
@@ -140,6 +146,7 @@
 	
 	boost::function<void(const mapping_msgs::CollisionMapConstPtr)> onBeforeMapUpdate_;
 	boost::function<void(const mapping_msgs::CollisionMapConstPtr)> onAfterMapUpdate_;
+	boost::function<void(const mapping_msgs::ObjectInMapConstPtr)>  onObjectInMapUpdate_;
     
     };
     

Modified: pkg/trunk/motion_planning/planning_environment/src/monitors/collision_space_monitor.cpp
===================================================================
--- pkg/trunk/motion_planning/planning_environment/src/monitors/collision_space_monitor.cpp	2009-07-14 20:24:30 UTC (rev 18778)
+++ pkg/trunk/motion_planning/planning_environment/src/monitors/collision_space_monitor.cpp	2009-07-14 20:33:19 UTC (rev 18779)
@@ -55,7 +55,8 @@
 {
     onBeforeMapUpdate_ = NULL;
     onAfterMapUpdate_  = NULL;
-
+    onObjectInMapUpdate_ = NULL;
+    
     collisionMapNotifier_ = NULL;
     collisionMapUpdateNotifier_ = NULL;
     objectInMapNotifier_ = NULL;
@@ -265,6 +266,9 @@
 	collisionSpace_->clearObstacles(objectInMap->id);
 	collisionSpace_->unlock();
     }
+    
+    if (onObjectInMapUpdate_)
+	onObjectInMapUpdate_(objectInMap);
 }
 
 bool planning_environment::CollisionSpaceMonitor::attachObject(const mapping_msgs::AttachedObjectConstPtr &attachedObject)


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