list_capabilities.cpp

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/* Author: Ioan Sucan */
 
#include <moveit/move_group/move_group_capability.h>
#include <pluginlib/class_loader.hpp>
#include <boost/algorithm/string/join.hpp>
 
int main(int /*argc*/, char** /*argv*/)
{
  try
  {
    pluginlib::ClassLoader<move_group::MoveGroupCapability> capability_plugin_loader("moveit_ros_move_group",
                                                                                     "move_group::MoveGroupCapability");
    std::cout << "Available capabilities:\n"
              << boost::algorithm::join(capability_plugin_loader.getDeclaredClasses(), "\n") << std::endl;
  }
  catch (pluginlib::PluginlibException& ex)
  {
    std::cerr << "Exception while creating plugin loader for move_group capabilities: " << ex.what() << std::endl;
  }
 
  return 0;
}