00001 00002 // Copyright (C) 2012, hiDOF, Inc 00003 // 00004 // Redistribution and use in source and binary forms, with or without 00005 // modification, are permitted provided that the following conditions are met: 00006 // * Redistributions of source code must retain the above copyright notice, 00007 // this list of conditions and the following disclaimer. 00008 // * Redistributions in binary form must reproduce the above copyright 00009 // notice, this list of conditions and the following disclaimer in the 00010 // documentation and/or other materials provided with the distribution. 00011 // * Neither the name of hiDOF, Inc. nor the names of its 00012 // contributors may be used to endorse or promote products derived from 00013 // this software without specific prior written permission. 00014 // 00015 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00016 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00017 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00018 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00019 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00020 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00021 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00022 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00023 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00024 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00025 // POSSIBILITY OF SUCH DAMAGE. 00027 00028 #ifndef CONRTOLLER_MANAGER_CONTROLLER_LOADER_H 00029 #define CONRTOLLER_MANAGER_CONTROLLER_LOADER_H 00030 00031 #include <pluginlib/class_loader.h> 00032 #include <controller_manager/controller_loader_interface.h> 00033 #include <boost/shared_ptr.hpp> 00034 00035 namespace controller_manager 00036 { 00037 00047 template <class T> 00048 class ControllerLoader : public ControllerLoaderInterface 00049 { 00050 public: 00051 ControllerLoader(const std::string& package, const std::string& base_class) : 00052 ControllerLoaderInterface(base_class), 00053 package_(package), 00054 base_class_(base_class) 00055 { 00056 reload(); 00057 } 00058 00059 controller_interface::ControllerBaseSharedPtr createInstance(const std::string& lookup_name) 00060 { 00061 return controller_loader_->createInstance(lookup_name); 00062 } 00063 00064 std::vector<std::string> getDeclaredClasses() 00065 { 00066 return controller_loader_->getDeclaredClasses(); 00067 } 00068 00069 void reload() 00070 { 00071 controller_loader_.reset(new pluginlib::ClassLoader<T>(package_, base_class_) ); 00072 } 00073 00074 private: 00075 std::string package_; 00076 std::string base_class_; 00077 boost::shared_ptr<pluginlib::ClassLoader<T> > controller_loader_; 00078 }; 00079 00080 } 00081 00082 #endif