constraint_sampler_manager_loader.cpp
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2011, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *********************************************************************/
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 class ConstraintSamplerManagerLoader::Helper
00045 {
00046 public:
00047   Helper(const constraint_samplers::ConstraintSamplerManagerPtr& csm) : nh_("~")
00048   {
00049     std::string constraint_samplers;
00050     if (nh_.getParam("constraint_samplers", constraint_samplers))
00051     {
00052       try
00053       {
00054         constraint_sampler_plugin_loader_.reset(
00055             new pluginlib::ClassLoader<constraint_samplers::ConstraintSamplerAllocator>(
00056                 "moveit_core", "constraint_samplers::ConstraintSamplerAllocator"));
00057       }
00058       catch (pluginlib::PluginlibException& ex)
00059       {
00060         ROS_ERROR_STREAM("Exception while creating constraint sampling plugin loader " << ex.what());
00061         return;
00062       }
00063       boost::char_separator<char> sep(" ");
00064       boost::tokenizer<boost::char_separator<char> > tok(constraint_samplers, sep);
00065       for (boost::tokenizer<boost::char_separator<char> >::iterator beg = tok.begin(); beg != tok.end(); ++beg)
00066       {
00067         try
00068         {
00069           constraint_samplers::ConstraintSamplerAllocator* csa =
00070               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   ros::NodeHandle nh_;
00084   boost::scoped_ptr<pluginlib::ClassLoader<constraint_samplers::ConstraintSamplerAllocator> >
00085       constraint_sampler_plugin_loader_;
00086 };
00087 
00088 ConstraintSamplerManagerLoader::ConstraintSamplerManagerLoader(
00089     const constraint_samplers::ConstraintSamplerManagerPtr& csm)
00090   : constraint_sampler_manager_(csm ? csm : constraint_samplers::ConstraintSamplerManagerPtr(
00091                                                 new constraint_samplers::ConstraintSamplerManager()))
00092   , impl_(new Helper(constraint_sampler_manager_))
00093 {
00094 }
00095 }


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Wed Jun 19 2019 19:24:16