controller_loader.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
//     notice, this list of conditions and the following disclaimer in the
//     documentation and/or other materials provided with the distribution.
//   * Neither the name of hiDOF, Inc. nor the names of its
//     contributors may be used to endorse or promote products derived from
//     this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// POSSIBILITY OF SUCH DAMAGE.
 
#pragma once
 
 
#include <pluginlib/class_loader.hpp>
#include <controller_manager/controller_loader_interface.h>
#include <memory>
 
namespace controller_manager
{
 
template <class T>
class ControllerLoader : public ControllerLoaderInterface
{
public:
  ControllerLoader(const std::string& package, const std::string& base_class) :
    ControllerLoaderInterface(base_class),
    package_(package),
    base_class_(base_class)
  {
    reload();
  }
 
  controller_interface::ControllerBaseSharedPtr createInstance(const std::string& lookup_name) override
  {
    return controller_loader_->createUniqueInstance(lookup_name);
  }
 
  std::vector<std::string> getDeclaredClasses() override
  {
    return controller_loader_->getDeclaredClasses();
  }
 
  void reload() override
  {
    controller_loader_.reset(new pluginlib::ClassLoader<T>(package_, base_class_) );
  }
 
private:
  std::string package_;
  std::string base_class_;
  std::unique_ptr<pluginlib::ClassLoader<T> > controller_loader_;
};
 
}