constraint_sampler_manager_loader.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <moveit/constraint_sampler_manager_loader/constraint_sampler_manager_loader.h>
00038 #include <pluginlib/class_loader.h>
00039 #include <ros/ros.h>
00040 #include <boost/tokenizer.hpp>
00041 
00042 namespace constraint_sampler_manager_loader
00043 {
00044 
00045 class ConstraintSamplerManagerLoader::Helper
00046 {
00047 public:
00048 
00049   Helper(const constraint_samplers::ConstraintSamplerManagerPtr &csm) :
00050     nh_("~")
00051   {
00052     std::string constraint_samplers;
00053     if (nh_.getParam("constraint_samplers", constraint_samplers))
00054     {
00055       try
00056       {
00057         constraint_sampler_plugin_loader_.reset(new pluginlib::ClassLoader<constraint_samplers::ConstraintSamplerAllocator>("moveit_core", "constraint_samplers::ConstraintSamplerAllocator"));
00058       }
00059       catch(pluginlib::PluginlibException& ex)
00060       {
00061         ROS_ERROR_STREAM("Exception while creating constraint sampling plugin loader " << ex.what());
00062         return;
00063       }
00064       boost::char_separator<char> sep(" ");
00065       boost::tokenizer<boost::char_separator<char> > tok(constraint_samplers, sep);
00066       for (boost::tokenizer<boost::char_separator<char> >::iterator beg = tok.begin() ; beg != tok.end(); ++beg)
00067       {
00068         try
00069         {
00070           constraint_samplers::ConstraintSamplerAllocator *csa = constraint_sampler_plugin_loader_->createUnmanagedInstance(*beg);
00071           csm->registerSamplerAllocator(constraint_samplers::ConstraintSamplerAllocatorPtr(csa));
00072           ROS_INFO("Loaded constraint sampling plugin %s", std::string(*beg).c_str());
00073         }
00074         catch (pluginlib::PluginlibException& ex)
00075         {
00076           ROS_ERROR_STREAM("Exception while planning adapter plugin '" << *beg << "': " << ex.what());
00077         }
00078       }
00079     }
00080   }
00081 
00082 private:
00083 
00084   ros::NodeHandle nh_;
00085   boost::scoped_ptr<pluginlib::ClassLoader<constraint_samplers::ConstraintSamplerAllocator> > constraint_sampler_plugin_loader_;
00086 };
00087 
00088 ConstraintSamplerManagerLoader::ConstraintSamplerManagerLoader(const constraint_samplers::ConstraintSamplerManagerPtr &csm) :
00089   constraint_sampler_manager_(csm ? csm : constraint_samplers::ConstraintSamplerManagerPtr(new constraint_samplers::ConstraintSamplerManager())),
00090   impl_(new Helper(constraint_sampler_manager_))
00091 {
00092 }
00093 
00094 }


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Oct 6 2014 02:31:39