A class to help manage and load classes. More...

#include <class_loader.h>

Inheritance diagram for pluginlib::ClassLoader< T >:

Public Types

typedef std::map< std::string,
ClassDesc >::iterator ClassMapIterator

Public Member Functions

ClassLoader (std::string package, std::string base_class, std::string attrib_name=std::string("plugin"), std::vector< std::string > plugin_xml_paths=std::vector< std::string >())

Constructor for a ClassLoader.

T * createUnmanagedInstance (const std::string &lookup_name)

Creates an instance of a desired class (which implicitly calls loadLibraryForClass() to increment the library counter).

virtual std::string getBaseClassType () const

Given the lookup name of a class, returns the type of the associated base class.

virtual std::string getClassDescription (const std::string &lookup_name)

Given the lookup name of a class, returns its description.

virtual std::string getClassLibraryPath (const std::string &lookup_name)

Given the name of a class, returns the path to its associated library.

virtual std::string getClassPackage (const std::string &lookup_name)

Given the name of a class, returns name of the containing package.

virtual std::string getClassType (const std::string &lookup_name)

Given the lookup name of a class, returns the type of the derived class associated with it.

std::vector< std::string > getDeclaredClasses ()

Returns a list of all available classes for this ClassLoader's base class type.

virtual std::string getName (const std::string &lookup_name)

Strips the package name off of a lookup name.

virtual std::string getPluginManifestPath (const std::string &lookup_name)

Given the name of a class, returns the path of the associated plugin manifest.

std::vector< std::string > getPluginXmlPaths ()

Returns a list of all available plugin manifest paths for this ClassLoader's base class type.

virtual std::vector< std::string > getRegisteredLibraries ()

Returns the libraries that are registered and can be loaded.

virtual bool isClassAvailable (const std::string &lookup_name)

Checks if the class associated with a plugin name is available to be loaded.

bool isClassLoaded (const std::string &lookup_name)

Checks if the library for a given class is currently loaded.

virtual void loadLibraryForClass (const std::string &lookup_name)

Attempts to load the library containing a class with a given name and increments a counter for the library.

virtual void refreshDeclaredClasses ()

Refreshs the list of all available classes for this ClassLoader's base class type

Exceptions:

pluginlib::LibraryLoadException Thrown if package manifest cannot be found.

virtual int unloadLibraryForClass (const std::string &lookup_name)

Decrements the counter for the library containing a class with a given name and attempts to unload it if the counter reaches zero.

~ClassLoader ()

Destructor for ClassLoader.

Private Member Functions

std::string callCommandLine (const char *cmd)

std::map< std::string, ClassDesc > determineAvailableClasses (const std::vector< std::string > &plugin_xml_paths)

Returns the available classes.

std::string extractPackageNameFromPackageXML (const std::string &package_xml_path)

std::vector< std::string > getAllLibraryPathsToTry (const std::string &library_name, const std::string &exporting_package_name)

std::vector< std::string > getCatkinLibraryPaths ()

std::string getErrorStringForUnknownClass (const std::string &lookup_name)

Returns an error message for an unknown class.

std::string getPackageFromPluginXMLFilePath (const std::string &path)

std::string getPathSeparator ()

std::vector< std::string > getPluginXmlPaths (const std::string &package, const std::string &attrib_name)

std::string getROSBuildLibraryPath (const std::string &exporting_package_name)

std::string joinPaths (const std::string &path1, const std::string &path2)

std::vector< std::string > parseToStringVector (std::string newline_delimited_str)

void processSingleXMLPluginFile (const std::string &xml_file, std::map< std::string, ClassDesc > &class_available)

std::string stripAllButFileFromPath (const std::string &path)

int unloadClassLibraryInternal (const std::string &library_path)

Helper function for unloading a shared library.

Private Attributes

std::string attrib_name_

std::string base_class_

std::map< std::string, ClassDesc > classes_available_

class_loader::MultiLibraryClassLoader

lowlevel_class_loader_

std::string package_

std::vector< std::string > plugin_xml_paths_

Detailed Description

template<class T>
class pluginlib::ClassLoader< T >

A class to help manage and load classes.

Definition at line 53 of file class_loader.h.

Member Typedef Documentation

template<class T>

typedef std::map<std::string, ClassDesc>::iterator pluginlib::ClassLoader< T >::ClassMapIterator

Definition at line 56 of file class_loader.h.

Constructor & Destructor Documentation

template<class T >

pluginlib::ClassLoader< T >::ClassLoader	(	std::string	package,
		std::string	base_class,
		std::string	attrib_name = `std::string("plugin")`,
		std::vector< std::string >	plugin_xml_paths = `std::vector<std::string>()`
	)

Constructor for a ClassLoader.

Parameters:

package	The package containing the base class
base_class	The type of the base class for classes to be loaded
attrib_name	The attribute to search for in manifext.xml files, defaults to "plugin"
plugin_xml_paths	The list of paths of plugin.xml files, defaults to be crawled via ros::package::getPlugins()

Exceptions:

pluginlib::LibraryLoadException Thrown if package manifest cannot be found

Definition at line 53 of file class_loader_imp.h.

template<class T >

pluginlib::ClassLoader< T >::~ClassLoader ( )

Destructor for ClassLoader.

Definition at line 71 of file class_loader_imp.h.

Member Function Documentation

template<class T >

std::string pluginlib::ClassLoader< T >::callCommandLine ( const char * cmd ) [private]

Calls a program from command line and returns output to stdout as a string

Definition at line 78 of file class_loader_imp.h.

template<class T >

T * pluginlib::ClassLoader< T >::createUnmanagedInstance ( const std::string & lookup_name )

Creates an instance of a desired class (which implicitly calls loadLibraryForClass() to increment the library counter).

Attention:: The ownership is transfered to the caller, which is responsible for deleting the instance and calling unloadLibraryForClass() (in order to decrement the associated library counter and unloading it if it is no more used).

Parameters:

lookup_name The name of the class to load

Exceptions:

pluginlib::LibraryLoadException	Thrown when the library associated with the class cannot be loaded
pluginlib::CreateClassException	Thrown when the class cannot be instantiated

Returns:: An instance of the class

Definition at line 151 of file class_loader_imp.h.

template<class T >

std::map< std::string, ClassDesc > pluginlib::ClassLoader< T >::determineAvailableClasses ( const std::vector< std::string > & plugin_xml_paths ) [private]

Returns the available classes.

Parameters:

plugin_xml_paths The vector of paths of plugin.xml files

Exceptions:

pluginlib::LibraryLoadException Thrown if package manifest cannot be found

Returns:: A map of class names and the corresponding descriptions

Definition at line 187 of file class_loader_imp.h.

template<class T >

std::string pluginlib::ClassLoader< T >::extractPackageNameFromPackageXML ( const std::string & package_xml_path ) [private]

Opens a package.xml file and extracts the package name (i.e. contents of <name> tag)

Definition at line 206 of file class_loader_imp.h.

template<class T >

std::vector< std::string > pluginlib::ClassLoader< T >::getAllLibraryPathsToTry	(	const std::string &	library_name,
		const std::string &	exporting_package_name
	)		`[private]`

Gets a list of paths to try to find a library. As we transition from rosbuild to Catkin build systems, plugins can be found in the old rosbuild place (pkg_name/lib usually) or somewhere in the Catkin build space

Definition at line 239 of file class_loader_imp.h.

template<class T >

std::string pluginlib::ClassLoader< T >::getBaseClassType ( ) const [virtual]

Given the lookup name of a class, returns the type of the associated base class.

Returns:: The type of the associated base class

std::string pluginlib::ClassLoader< T >::joinPaths	(	const std::string &	path1,
		const std::string &	path2
	)		`[private]`

void pluginlib::ClassLoader< T >::processSingleXMLPluginFile	(	const std::string &	xml_file,
		std::map< std::string, ClassDesc > &	class_available
	)		`[private]`

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

template<class T> class pluginlib::ClassLoader< T >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class T>
class pluginlib::ClassLoader< T >