00001 // ***************************************************************************** 00002 // 00003 // Copyright (c) 2016, Southwest Research Institute® (SwRI®) 00004 // All rights reserved. 00005 // 00006 // Redistribution and use in source and binary forms, with or without 00007 // modification, are permitted provided that the following conditions are met: 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 Southwest Research Institute® (SwRI®) nor the 00014 // names of its contributors may be used to endorse or promote products 00015 // derived from 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 <COPYRIGHT HOLDER> 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 THIS 00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00027 // 00028 // ***************************************************************************** 00029 00030 #ifndef SWRI_NODELET_CLASS_LIST_MACROS_H_ 00031 #define SWRI_NODELET_CLASS_LIST_MACROS_H_ 00032 00033 #include <boost/make_shared.hpp> 00034 #include <pluginlib/class_list_macros.h> 00035 00036 /* 00037 Macro to define a nodelet with a factory function, so that it can be used in 00038 boilerplate wrapper nodes that do not rely on dynamic class loading. 00039 00040 The macro calls PLUGINLIB_EXPORT_CLASS with plugin type nodelet::Nodelet and 00041 creates a factory function NS::createCLASS() that returns a 00042 boost::shared_ptr<nodelet::Nodelet> to NS::CLASS 00043 00044 @param NS The namespace of the class to be used for the nodelet 00045 @param CLASS The classname of the class to be used for the nodelet 00046 */ 00047 #define SWRI_NODELET_EXPORT_CLASS(NS, CLASS) PLUGINLIB_EXPORT_CLASS(NS::CLASS, nodelet::Nodelet);\ 00048 namespace NS\ 00049 {\ 00050 boost::shared_ptr<nodelet::Nodelet> create ## CLASS()\ 00051 {\ 00052 return boost::make_shared<CLASS>();\ 00053 }\ 00054 } 00055 00056 #endif // SWRI_NODELET_CLASS_LIST_MACROS_H_ 00057