controller_loader.h
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00001 /*
00002  * Copyright (c) 2014, Fetch Robotics Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Fetch Robotics Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  * 
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL FETCH ROBOTICS INC. BE LIABLE FOR ANY
00021  * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022  * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024  * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
00026  * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027  */
00028 
00029 // Author: Michael Ferguson
00030 
00031 #ifndef ROBOT_CONTROLLERS_INTERFACE_CONTROLLER_LOADER_H
00032 #define ROBOT_CONTROLLERS_INTERFACE_CONTROLLER_LOADER_H
00033 
00034 #include <string>
00035 #include <ros/ros.h>
00036 #include <pluginlib/class_loader.h>
00037 #include <robot_controllers_interface/controller.h>
00038 
00039 namespace robot_controllers
00040 {
00041 
00042 // Forward def
00043 class ControllerManager;
00044 
00046 class ControllerLoader
00047 {
00048 public:
00050   ControllerLoader();
00051 
00053   bool init(const std::string& name, ControllerManager* manager);
00054 
00056   bool start();
00057 
00059   bool stop(bool force);
00060 
00062   bool reset();
00063 
00065   void update(const ros::Time& time, const ros::Duration& dt);
00066 
00068   bool isActive();
00069 
00071   ControllerPtr getController();
00072 
00073 private:
00074   pluginlib::ClassLoader<robot_controllers::Controller> plugin_loader_;
00075   ControllerPtr controller_;
00076   bool active_;
00077 };
00078 
00079 typedef boost::shared_ptr<ControllerLoader> ControllerLoaderPtr;
00080 
00081 }  // namespace robot_controllers
00082 
00083 #endif  // ROBOT_CONTROLLERS_INTERFACE_CONTROLLER_MANAGER_H


robot_controllers_interface
Author(s): Michael Ferguson
autogenerated on Wed Jun 14 2017 04:09:05