extended_plugin_aggregator.h

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//=================================================================================================
// Copyright (c) 2017, Alexander Stumpf, TU Darmstadt
// All rights reserved.

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//     * Neither the name of the Simulation, Systems Optimization and Robotics
//       group, TU Darmstadt nor the names of its contributors may be used to
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#ifndef VIGIR_FOOTSTEP_PLANNING_PLUGINS_EXTENDED_PLUGIN_AGGREGATOR_H__
#define VIGIR_FOOTSTEP_PLANNING_PLUGINS_EXTENDED_PLUGIN_AGGREGATOR_H__

#include <ros/ros.h>

#include <vigir_pluginlib/plugin_aggregator.h>

#include <vigir_footstep_planning_lib/singleton.h>



namespace vigir_footstep_planning
{
template<class T, class PluginClass>
class ExtendedPluginAggregator
  : public vigir_pluginlib::PluginAggregator<PluginClass>
  , public Singleton<T>
{
public:
  // typedefs
  typedef boost::shared_ptr<T> Ptr;
  typedef boost::shared_ptr<const T> ConstPtr;

  ExtendedPluginAggregator(const std::string& name = std::string("PluginAggregator"))
    : vigir_pluginlib::PluginAggregator<PluginClass>(name) {}

  virtual void resetPlugins()
  {
    for (const boost::shared_ptr<PluginClass> plugin : this->plugins_)
    {
      if (plugin)
        plugin->reset();
    }
  }
};
}

#endif