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diff --git a/src/components/include/utils/mutable_data_accessor.h b/src/components/include/utils/mutable_data_accessor.h
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+/*
+ * Copyright (c) 2020, Ford Motor Company
+ * 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 the Ford Motor Company 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 HOLDER 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.
+ */
+
+#ifndef SRC_COMPONENTS_INCLUDE_UTILS_MUTABLE_DATA_ACCESSOR_H
+#define SRC_COMPONENTS_INCLUDE_UTILS_MUTABLE_DATA_ACCESSOR_H
+
+#include "utils/lock.h"
+
+// This class is for thread-safe mutable access to data
+
+template <class T>
+class MutableDataAccessor {
+ public:
+  MutableDataAccessor(T& data,
+                      const std::shared_ptr<sync_primitives::BaseLock>& lock)
+      : data_(data), lock_(lock), counter_(new uint32_t(0)) {
+    lock_->Acquire();
+  }
+
+  MutableDataAccessor(const MutableDataAccessor<T>& other)
+      : data_(other.data_), lock_(other.lock_), counter_(other.counter_) {
+    ++(*counter_);
+  }
+
+  ~MutableDataAccessor() {
+    if (0 == *counter_) {
+      lock_->Release();
+    } else {
+      --(*counter_);
+    }
+  }
+
+  const T& GetData() const {
+    return data_;
+  }
+
+  T& GetMutableData() {
+    return data_;
+  }
+
+ private:
+  void* operator new(size_t size);
+  T& data_;
+  // Require that the lock lives at least as long as the DataAccessor
+  const std::shared_ptr<sync_primitives::BaseLock> lock_;
+  std::shared_ptr<uint32_t> counter_;
+};
+
+#endif  // SRC_COMPONENTS_INCLUDE_UTILS_MUTABLE_DATA_ACCESSOR_H