40 #include <boost/tokenizer.hpp> 48 Helper(
const constraint_samplers::ConstraintSamplerManagerPtr& csm) :
nh_(
"~")
51 if (
nh_.
getParam(
"constraint_samplers", constraint_samplers))
57 "moveit_core",
"constraint_samplers::ConstraintSamplerAllocator"));
61 ROS_ERROR_STREAM(
"Exception while creating constraint sampling plugin loader " << ex.what());
64 boost::char_separator<char> sep(
" ");
65 boost::tokenizer<boost::char_separator<char> > tok(constraint_samplers, sep);
66 for (boost::tokenizer<boost::char_separator<char> >::iterator beg = tok.begin(); beg != tok.end(); ++beg)
72 csm->registerSamplerAllocator(constraint_samplers::ConstraintSamplerAllocatorPtr(csa));
73 ROS_INFO(
"Loaded constraint sampling plugin %s", std::string(*beg).c_str());
77 ROS_ERROR_STREAM(
"Exception while planning adapter plugin '" << *beg <<
"': " << ex.what());
85 std::unique_ptr<pluginlib::ClassLoader<constraint_samplers::ConstraintSamplerAllocator> >
90 const constraint_samplers::ConstraintSamplerManagerPtr& csm)
ConstraintSamplerManagerLoader(const constraint_samplers::ConstraintSamplerManagerPtr &csm=constraint_samplers::ConstraintSamplerManagerPtr())
std::unique_ptr< pluginlib::ClassLoader< constraint_samplers::ConstraintSamplerAllocator > > constraint_sampler_plugin_loader_
Helper(const constraint_samplers::ConstraintSamplerManagerPtr &csm)
bool getParam(const std::string &key, std::string &s) const
#define ROS_ERROR_STREAM(args)
constraint_samplers::ConstraintSamplerManagerPtr constraint_sampler_manager_