00001 /* 00002 * Copyright (c) 2010, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 #ifndef PLUGINLIB_BOOST_FS_WRAPPER_H 00030 #define PLUGINLIB_BOOST_FS_WRAPPER_H 00031 00032 00033 #include "pluginlib/boost_fs_wrapper.h" 00034 #include "boost/filesystem.hpp" 00035 #include "ros/package.h" 00036 00037 namespace pluginlib 00038 { 00039 00040 std::string joinPaths(const std::string& path1, const std::string& path2) 00041 { 00042 boost::filesystem::path p1(path1); 00043 return (p1 / path2).string(); 00044 } 00045 00046 std::string getPackageFromLibraryPath(const std::string & path) 00047 { 00048 00049 std::string package_name; 00050 00051 boost::filesystem::path p(path); 00052 boost::filesystem::path parent = p.parent_path(); 00053 // figure out the package this class is part of 00054 while (true) 00055 { 00056 if (boost::filesystem::exists(parent / "manifest.xml")) 00057 { 00058 std::string package = parent.filename(); 00059 std::string package_path = ros::package::getPath(package); 00060 if (path.find(package_path) == 0) 00061 { 00062 package_name = package; 00063 break; 00064 } 00065 } 00066 00067 parent = parent.parent_path(); 00068 00069 if (parent.string().empty()) 00070 { 00071 return ""; 00072 } 00073 } 00074 00075 return package_name; 00076 } 00077 00078 00079 } 00080 00081 00082 #endif //PLUGINLIB_BOOST_FS_WRAPPER_H