ompl::tools::SelfConfig::SelfConfig(const base::SpaceInformationPtr &si, const std::string &context) :
context_(context.empty() ? "" : context + ": ")
{
typedef std::map<base::SpaceInformation*, boost::shared_ptr<SelfConfigImpl> > ConfigMap;
static ConfigMap SMAP;
static boost::mutex LOCK;
boost::mutex::scoped_lock smLock(LOCK);
// clean expired entries from the map
ConfigMap::iterator dit = SMAP.begin();
while (dit != SMAP.end())
{
if (dit->second->expired())
SMAP.erase(dit++);
else
++dit;
}
ConfigMap::const_iterator it = SMAP.find(si.get());
if (it != SMAP.end())
impl_ = it->second.get();
else
{
impl_ = new SelfConfigImpl(si);
SMAP[si.get()].reset(impl_);
}
}
ompl::tools::SelfConfig::SelfConfig(const base::SpaceInformationPtr &si, const std::string &context) : context_(context)
{
typedef std::map<base::SpaceInformation*, boost::shared_ptr<SelfConfigImpl> > ConfigMap;
static ConfigMap SMAP;
static boost::mutex LOCK;
boost::mutex::scoped_lock smLock(LOCK);
ConfigMap::const_iterator it = SMAP.find(si.get());
if (it != SMAP.end())
impl_ = it->second.get();
else
{
impl_ = new SelfConfigImpl(si);
SMAP[si.get()].reset(impl_);
}
}