plugin_loader.h

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//=================================================================================================
// Copyright (c) 2016, Alexander Stumpf, TU Darmstadt
// Based on pluginlib (http://wiki.ros.org/pluginlib)
// 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 the Simulation, Systems Optimization and Robotics
//       group, TU Darmstadt 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 HOLDER BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//=================================================================================================

#ifndef VIGIR_PLUGINLIB_PLUGIN_LOADER_H__
#define VIGIR_PLUGINLIB_PLUGIN_LOADER_H__

#include <ros/ros.h>

#include <pluginlib/class_loader.h>

#include <vigir_pluginlib/plugin_loader_base.h>
#include <vigir_pluginlib/plugin.h>



namespace vigir_pluginlib
{
template <class T>
class PluginLoader
  : public pluginlib::ClassLoader<T>
  , public PluginLoaderBase
{
public:
  PluginLoader(const std::string& package, const std::string& base_class, const std::string& attrib_name = std::string("plugin"), const std::vector<std::string>& plugin_xml_paths = std::vector<std::string>())
    : pluginlib::ClassLoader<T>(package, base_class, attrib_name, plugin_xml_paths)
    , PluginLoaderBase(package, base_class, attrib_name, plugin_xml_paths)
  {
  }

  std::vector<std::string> getPluginXmlPaths() override
  {
    return pluginlib::ClassLoader<T>::getPluginXmlPaths();
  }

  std::vector<std::string> getDeclaredClasses() override
  {
    return pluginlib::ClassLoader<T>::getDeclaredClasses();
  }

  void refreshDeclaredClasses() override
  {
    return pluginlib::ClassLoader<T>::refreshDeclaredClasses();
  }

  std::string getName(const std::string& lookup_name) override
  {
    return pluginlib::ClassLoader<T>::getName(lookup_name);
  }

  bool isClassAvailable(const std::string& lookup_name) override
  {
    return pluginlib::ClassLoader<T>::isClassAvailable(lookup_name);
  }

  std::string getClassType(const std::string& lookup_name) override
  {
    return pluginlib::ClassLoader<T>::getClassType(lookup_name);
  }

  std::string getClassDescription(const std::string& lookup_name) override
  {
    return pluginlib::ClassLoader<T>::getClassDescription(lookup_name);
  }

  std::string getBaseClassType() const override
  {
    return pluginlib::ClassLoader<T>::getBaseClassType();
  }

  std::string getClassPackage(const std::string& lookup_name) override
  {
    return pluginlib::ClassLoader<T>::getClassPackage(lookup_name);
  }

  std::string getPluginManifestPath(const std::string& lookup_name) override
  {
    return pluginlib::ClassLoader<T>::getPluginManifestPath(lookup_name);
  }

  bool isClassLoaded(const std::string& lookup_name) override
  {
    return pluginlib::ClassLoader<T>::isClassLoaded(lookup_name);
  }

  void loadLibraryForClass(const std::string & lookup_name) override
  {
    return pluginlib::ClassLoader<T>::loadLibraryForClass(lookup_name);
  }

  int unloadLibraryForClass(const std::string& lookup_name) override
  {
    return pluginlib::ClassLoader<T>::unloadLibraryForClass(lookup_name);
  }

  std::vector<std::string> getRegisteredLibraries() override
  {
    return pluginlib::ClassLoader<T>::getRegisteredLibraries();
  }

  std::string getClassLibraryPath(const std::string& lookup_name) override
  {
    return pluginlib::ClassLoader<T>::getClassLibraryPath(lookup_name);
  }

  Plugin::Ptr createPluginInstance(const std::string& lookup_name) override
  {
    return pluginlib::ClassLoader<T>::createInstance(lookup_name);
  }
};
}

#endif