class_list_macros.h

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#ifndef SWRI_NODELET_CLASS_LIST_MACROS_H_
#define SWRI_NODELET_CLASS_LIST_MACROS_H_

#include <boost/make_shared.hpp>
#include <pluginlib/class_list_macros.h>

/*
 Macro to define a nodelet with a factory function, so that it can be used in
 boilerplate wrapper nodes that do not rely on dynamic class loading.
 
 The macro calls PLUGINLIB_EXPORT_CLASS with plugin type nodelet::Nodelet and
 creates a factory function NS::createCLASS() that returns a 
 boost::shared_ptr<nodelet::Nodelet> to NS::CLASS
 
 @param NS The namespace of the class to be used for the nodelet
 @param CLASS The classname of the class to be used for the nodelet
*/
#define SWRI_NODELET_EXPORT_CLASS(NS, CLASS) PLUGINLIB_EXPORT_CLASS(NS::CLASS, nodelet::Nodelet);\
namespace NS\
{\
  boost::shared_ptr<nodelet::Nodelet> create ## CLASS()\
  {\
    return boost::make_shared<CLASS>();\
  }\
}

#endif  // SWRI_NODELET_CLASS_LIST_MACROS_H_