constraint_sampler_manager_loader.cpp

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/* Author: Ioan Sucan */

#include <moveit/constraint_sampler_manager_loader/constraint_sampler_manager_loader.h>
#include <pluginlib/class_loader.h>
#include <ros/ros.h>
#include <boost/tokenizer.hpp>

namespace constraint_sampler_manager_loader
{

class ConstraintSamplerManagerLoader::Helper
{
public:

  Helper(const constraint_samplers::ConstraintSamplerManagerPtr &csm) :
    nh_("~")
  {
    std::string constraint_samplers;
    if (nh_.getParam("constraint_samplers", constraint_samplers))
    {
      try
      {
        constraint_sampler_plugin_loader_.reset(new pluginlib::ClassLoader<constraint_samplers::ConstraintSamplerAllocator>("moveit_core", "constraint_samplers::ConstraintSamplerAllocator"));
      }
      catch(pluginlib::PluginlibException& ex)
      {
        ROS_ERROR_STREAM("Exception while creating constraint sampling plugin loader " << ex.what());
        return;
      }
      boost::char_separator<char> sep(" ");
      boost::tokenizer<boost::char_separator<char> > tok(constraint_samplers, sep);
      for (boost::tokenizer<boost::char_separator<char> >::iterator beg = tok.begin() ; beg != tok.end(); ++beg)
      {
        try
        {
          constraint_samplers::ConstraintSamplerAllocator *csa = constraint_sampler_plugin_loader_->createUnmanagedInstance(*beg);
          csm->registerSamplerAllocator(constraint_samplers::ConstraintSamplerAllocatorPtr(csa));
          ROS_INFO("Loaded constraint sampling plugin %s", std::string(*beg).c_str());
        }
        catch (pluginlib::PluginlibException& ex)
        {
          ROS_ERROR_STREAM("Exception while planning adapter plugin '" << *beg << "': " << ex.what());
        }
      }
    }
  }

private:

  ros::NodeHandle nh_;
  boost::scoped_ptr<pluginlib::ClassLoader<constraint_samplers::ConstraintSamplerAllocator> > constraint_sampler_plugin_loader_;
};

ConstraintSamplerManagerLoader::ConstraintSamplerManagerLoader(const constraint_samplers::ConstraintSamplerManagerPtr &csm) :
  constraint_sampler_manager_(csm ? csm : constraint_samplers::ConstraintSamplerManagerPtr(new constraint_samplers::ConstraintSamplerManager())),
  impl_(new Helper(constraint_sampler_manager_))
{
}

}