#include <plugin.h>

Public Types
typedef boost::shared_ptr < const Plugin >	ConstPtr
typedef boost::weak_ptr< const Plugin >	ConstWeakPtr
typedef boost::shared_ptr< Plugin >	Ptr
typedef boost::weak_ptr< Plugin >	WeakPtr
Public Member Functions
const std::string &	getBaseClass () const
const std::string &	getBaseClassPackage () const
const msgs::PluginDescription &	getDescription () const
const std::string &	getName () const
const std::string &	getTypeClass () const
const std::string &	getTypeClassPackage () const
virtual bool	initialize (const vigir_generic_params::ParameterSet &global_params=vigir_generic_params::ParameterSet())
	Initialization of plugin specific features.
virtual bool	isUnique () const
virtual bool	loadParams (const vigir_generic_params::ParameterSet &)
	Loads parameters from parameter set and rosparam server (!= plugin's dedicated parameters). This method will be automatically called by Plugin::initialize(...).
	Plugin (const std::string &name, const std::string &type_class_package=std::string(), const std::string &base_class_package=std::string(), const std::string &base_class=std::string())
virtual bool	postInitialize (const vigir_generic_params::ParameterSet &global_params=vigir_generic_params::ParameterSet())
	Called after initialization of this and other plugins has been completed. At this point other plugins can be used safely.
virtual	~Plugin ()
Static Public Member Functions
template<typename T >
static std::string	getTypeClass ()
Protected Member Functions
template<typename T >
bool	getParam (const std::string &name, T &val, const T &def=T(), bool ignore_warnings=false) const
	Retrieves parameter from plugin's dedicated parameter set.
const vigir_generic_params::ParameterSet &	getParams () const
	Returns parameter set of plugin.
template<typename T >
T	param (const std::string &name, const T &def=T(), bool ignore_warnings=false) const
	Retrieves parameter from plugin's dedicated parameter set.
void	updateDescription (const msgs::PluginDescription &description)
	Updates plugin description.
Static Protected Member Functions
template<typename T >
static std::string	_typeClass (T *t=nullptr)
Protected Attributes
ros::NodeHandle	nh_
Private Member Functions
void	setNodehandle (const ros::NodeHandle &nh)
void	setParams (const vigir_generic_params::ParameterSet &params)
bool	setup (ros::NodeHandle &nh, const vigir_generic_params::ParameterSet &global_params=vigir_generic_params::ParameterSet())
	Internal initialization of plugin itself, e.g. setting parameter namespaces.
Private Attributes
msgs::PluginDescription	description_
vigir_generic_params::ParameterSet	params_
Friends
class	PluginManager

Detailed Description

Definition at line 44 of file plugin.h.

Member Typedef Documentation

typedef boost::shared_ptr<const Plugin> vigir_pluginlib::Plugin::ConstPtr

Definition at line 49 of file plugin.h.

typedef boost::weak_ptr<const Plugin> vigir_pluginlib::Plugin::ConstWeakPtr

Definition at line 51 of file plugin.h.

typedef boost::shared_ptr<Plugin> vigir_pluginlib::Plugin::Ptr

Definition at line 48 of file plugin.h.

typedef boost::weak_ptr<Plugin> vigir_pluginlib::Plugin::WeakPtr

Definition at line 50 of file plugin.h.

Constructor & Destructor Documentation

vigir_pluginlib::Plugin::Plugin	(	const std::string &	name,
		const std::string &	type_class_package = `std::string()`,
		const std::string &	base_class_package = `std::string()`,
		const std::string &	base_class = `std::string()`
	)

Definition at line 36 of file plugin.cpp.

vigir_pluginlib::Plugin::~Plugin ( ) [virtual]

Definition at line 45 of file plugin.cpp.

Member Function Documentation

template<typename T >

static std::string vigir_pluginlib::Plugin::_typeClass ( T * t = nullptr ) [inline, static, protected]

Used internally for automatically generate type ids for data types.

Definition at line 120 of file plugin.h.

const std::string & vigir_pluginlib::Plugin::getBaseClass ( ) const

Definition at line 104 of file plugin.cpp.

const std::string & vigir_pluginlib::Plugin::getBaseClassPackage ( ) const

Definition at line 99 of file plugin.cpp.

const msgs::PluginDescription & vigir_pluginlib::Plugin::getDescription ( ) const

Definition at line 69 of file plugin.cpp.

const std::string & vigir_pluginlib::Plugin::getName ( ) const

Definition at line 79 of file plugin.cpp.

template<typename T >

bool vigir_pluginlib::Plugin::getParam	(	const std::string &	name,
		T &	val,
		const T &	def = `T()`,
		bool	ignore_warnings = `false`
	)		const `[inline, protected]`

Retrieves parameter from plugin's dedicated parameter set.

Parameters:

name	name of parameter
val	[out] return variable for parameter
def	default value
ignore_warnings	if true no warnings will be printed out when param was not present

Returns:: true when parameter was found at rosparam

Definition at line 143 of file plugin.h.

const vigir_generic_params::ParameterSet& vigir_pluginlib::Plugin::getParams ( ) const [inline, protected]

Returns parameter set of plugin.

Returns:: parameter set of pluign

Definition at line 132 of file plugin.h.

template<typename T >

static std::string vigir_pluginlib::Plugin::getTypeClass ( ) [inline, static]

Used for automatically generate type ids for data types. Override _typeClass() function to use custom type ids for derived data types! Usage: vigir_pluginlib::Plugin::getTypeClass<MyClass>() DO NOT OVERRIDE THIS METHOD! This wrapper prevents wrong usage, e.g. A::_typeClass<B>().

Definition at line 96 of file plugin.h.

const std::string & vigir_pluginlib::Plugin::getTypeClass ( ) const

Definition at line 89 of file plugin.cpp.

const std::string & vigir_pluginlib::Plugin::getTypeClassPackage ( ) const

Definition at line 84 of file plugin.cpp.

virtual bool vigir_pluginlib::Plugin::initialize ( const vigir_generic_params::ParameterSet & global_params = vigir_generic_params::ParameterSet() ) [inline, virtual]

Initialization of plugin specific features.

Parameters:

global_params global parameter set

Returns:: true when initialization was successful

Definition at line 71 of file plugin.h.

virtual bool vigir_pluginlib::Plugin::isUnique ( ) const [inline, virtual]

Unique plugins (default: true) can only exist once per type_class. The plugin manager will replace any plugin of same type_class with the new one. If a plugin can live in coexistence with others plugins with the the same type_class, override this method to return false.

Definition at line 111 of file plugin.h.

virtual bool vigir_pluginlib::Plugin::loadParams ( const vigir_generic_params::ParameterSet & ) [inline, virtual]

Loads parameters from parameter set and rosparam server (!= plugin's dedicated parameters). This method will be automatically called by Plugin::initialize(...).

Parameters:

global_params global parameter set

Returns:: true, if loading parameters was successful

Definition at line 87 of file plugin.h.

template<typename T >

T vigir_pluginlib::Plugin::param	(	const std::string &	name,
		const T &	def = `T()`,
		bool	ignore_warnings = `false`
	)		const `[inline, protected]`

Retrieves parameter from plugin's dedicated parameter set.

Parameters:

name	name of parameter
def	default value
ignore_warnings	When true no warnings will be printed out when param was not present

Returns:: retrieved parameter if available, otherwise given default value

Definition at line 159 of file plugin.h.

virtual bool vigir_pluginlib::Plugin::postInitialize ( const vigir_generic_params::ParameterSet & global_params = vigir_generic_params::ParameterSet() ) [inline, virtual]

Called after initialization of this and other plugins has been completed. At this point other plugins can be used safely.

Parameters:

global_params global parameter set

Returns:: true, if post initialization was successful

Definition at line 79 of file plugin.h.

void vigir_pluginlib::Plugin::setNodehandle ( const ros::NodeHandle & nh ) [private]

Definition at line 114 of file plugin.cpp.

void vigir_pluginlib::Plugin::setParams ( const vigir_generic_params::ParameterSet & params ) [private]

Definition at line 119 of file plugin.cpp.

bool vigir_pluginlib::Plugin::setup	(	ros::NodeHandle &	nh,
		const vigir_generic_params::ParameterSet &	global_params = `vigir_generic_params::ParameterSet()`
	)		`[private]`

Internal initialization of plugin itself, e.g. setting parameter namespaces.

Parameters:

nh	Nodehandle the plugin
global_params	global parameter set

Returns:: true, if setup was successful

Definition at line 49 of file plugin.cpp.

void vigir_pluginlib::Plugin::updateDescription ( const msgs::PluginDescription & description ) [protected]

Updates plugin description.

Parameters:

description new description

Definition at line 109 of file plugin.cpp.

Friends And Related Function Documentation

friend class PluginManager [friend]

Definition at line 113 of file plugin.h.

Member Data Documentation

msgs::PluginDescription vigir_pluginlib::Plugin::description_ [private]

Definition at line 174 of file plugin.h.

ros::NodeHandle vigir_pluginlib::Plugin::nh_ [protected]

Definition at line 166 of file plugin.h.

vigir_generic_params::ParameterSet vigir_pluginlib::Plugin::params_ [private]

Definition at line 172 of file plugin.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Friends

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation