polygon_loader.cpp

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* Author: Eitan Marder-Eppstein
* Author: Isaac Saito
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#include <boost/shared_ptr.hpp>

#include <pluginlib/class_loader.h>
#include <pluginlib_tutorials/polygon_base.h>

int main(int argc, char** argv)
{
  pluginlib::ClassLoader<polygon_base::RegularPolygon> poly_loader("pluginlib_tutorials", "polygon_base::RegularPolygon");

  try
  {
    boost::shared_ptr<polygon_base::RegularPolygon> triangle = poly_loader.createInstance("pluginlib_tutorials/regular_triangle");
    triangle->initialize(10.0);

    ROS_INFO("Triangle area: %.2f", triangle->area());
  }
  catch(pluginlib::PluginlibException& ex)
  {
    ROS_ERROR("The plugin failed to load for some reason. Error: %s", ex.what());
  }

  try
  {
    boost::shared_ptr<polygon_base::RegularPolygon> square = poly_loader.createInstance("pluginlib_tutorials/regular_square");
    square->initialize(10.0);

    ROS_INFO("Square area: %.2f", square->area());
  }
  catch(pluginlib::PluginlibException& ex)
  {
    ROS_ERROR("The plugin failed to load for some reason. Error: %s", ex.what());
  }

  return 0;
}