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Improve RobotInteraction thread safety#422
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sachinchitta merged 13 commits intomoveit:hydro-develfrom Feb 20, 2014
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February 14, 2014 13:34
The Generic, EndEffector, and Joint structures complicate the core of RobotInteraction. Pull them out to simplify the code. This will also help with future plans to make the core of RobotInteraction more generic and flexible.
KinematicOptions contains the parameters needed to call RobotState::setFromIK. KinematicOptionsMap contains a map of string->KinematicOptions a default KinematicOptions. These are useful in RobotInteraction with the group name as the key.
Fixes threading issues. Separate the handling of kinematics options into a separate object which enforces thread safe access.
Fix a number of thread safety violations.
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What does the callback return? How are the arguments used?
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Good point -- will add comments
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This change attempts to simplify RobotInteraction and improve thread safety.
These changes focus on InteractionHandler. Some of the functionality is pulled out into helper classes (LockedRobotState and KinematicOptionsMap) so that the intent of InteractionHandler is more clear.
All non-const members are now protected with internal locks.
The locking scheme is documented in comments.
The state update is simplified, removing the need for condition variables. Instead in-place updates are done using callback functions with the modifyState method (inherited by RobotInteraction from LockedRobotState).