text: /*********************************************************************
  * Software License Agreement (BSD License)
  *
  *  Copyright (c) 2011, Willow Garage, Inc.
  *  All rights reserved.
  *
  *  Redistribution and use in source and binary forms, with or without
  *  modification, are permitted provided that the following conditions
  *  are met:
  *
  *   * Redistributions of source code must retain the above copyright
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
  *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of Willow Garage nor the names of its
  *     contributors may be used to endorse or promote products derived
  *     from this software without specific prior written permission.
  *
  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
  
  /* Author: Ioan Sucan */
  
  #ifndef MOVEIT_OMPL_INTERFACE_DEATIL_THREADSAFE_STATE_STORAGE_
  #define MOVEIT_OMPL_INTERFACE_DEATIL_THREADSAFE_STATE_STORAGE_
  
  #include <moveit/robot_state/robot_state.h>
  #include <boost/thread.hpp>
  
  namespace ompl_interface
  {
  class TSStateStorage
  {
  public:
    TSStateStorage(const robot_model::RobotModelPtr& kmodel);
    TSStateStorage(const robot_state::RobotState& start_state);
    ~TSStateStorage();
  
    robot_state::RobotState* getStateStorage() const;
  
  private:
    robot_state::RobotState start_state_;
    mutable std::map<boost::thread::id, robot_state::RobotState*> thread_states_;
    mutable boost::mutex lock_;
  };
  }
  #endif
  