constraint_sampler_manager_loader.cpp

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* 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_))
{
}
}