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_INTERFACE_H 00029 #define CONRTOLLER_MANAGER_CONTROLLER_LOADER_INTERFACE_H 00030 00031 #include <vector> 00032 #include <string> 00033 #include <boost/shared_ptr.hpp> 00034 #include <controller_interface/controller_base.h> 00035 00036 namespace controller_manager 00037 { 00038 00045 class ControllerLoaderInterface 00046 { 00047 public: 00048 ControllerLoaderInterface(const std::string& name) : name_(name) { } 00049 virtual controller_interface::ControllerBaseSharedPtr createInstance(const std::string& lookup_name) = 0; 00050 virtual std::vector<std::string> getDeclaredClasses() = 0; 00051 virtual void reload() = 0; 00052 const std::string& getName() { return name_; } 00053 virtual ~ControllerLoaderInterface() { } 00054 private: 00055 const std::string name_; 00056 00057 }; 00058 00059 typedef boost::shared_ptr<ControllerLoaderInterface> ControllerLoaderInterfaceSharedPtr; 00060 00061 } 00062 00063 #endif