controller_loader_interface.h

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// Copyright (C) 2012, hiDOF, Inc
//
// 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
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//     contributors may be used to endorse or promote products derived from
//     this software without specific prior written permission.
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#ifndef CONRTOLLER_MANAGER_CONTROLLER_LOADER_INTERFACE_H
#define CONRTOLLER_MANAGER_CONTROLLER_LOADER_INTERFACE_H

#include <vector>
#include <string>
#include <boost/shared_ptr.hpp>
#include <controller_interface/controller_base.h>

namespace controller_manager
{

class ControllerLoaderInterface
{
public:
  ControllerLoaderInterface(const std::string& name) : name_(name) { }
  virtual controller_interface::ControllerBaseSharedPtr createInstance(const std::string& lookup_name) = 0;
  virtual std::vector<std::string> getDeclaredClasses() = 0;
  virtual void reload() = 0;
  const std::string& getName() { return name_; }
  virtual ~ControllerLoaderInterface() { }
private:
  const std::string name_;

};

typedef boost::shared_ptr<ControllerLoaderInterface> ControllerLoaderInterfaceSharedPtr;

}

#endif