constraint_sampler_manager_loader.cpp
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34 
35 /* Author: Ioan Sucan */
36 
39 #include <ros/ros.h>
40 #include <boost/tokenizer.hpp>
41 #include <memory>
42 
44 {
45 class ConstraintSamplerManagerLoader::Helper
46 {
47 public:
48  Helper(const constraint_samplers::ConstraintSamplerManagerPtr& csm) : nh_("~")
49  {
50  std::string constraint_samplers;
51  if (nh_.getParam("constraint_samplers", constraint_samplers))
52  {
53  try
54  {
56  std::make_unique<pluginlib::ClassLoader<constraint_samplers::ConstraintSamplerAllocator>>(
57  "moveit_core", "constraint_samplers::ConstraintSamplerAllocator");
58  }
60  {
61  ROS_ERROR_STREAM("Exception while creating constraint sampling plugin loader " << ex.what());
62  return;
63  }
64  boost::char_separator<char> sep(" ");
65  boost::tokenizer<boost::char_separator<char>> tok(constraint_samplers, sep);
66  for (boost::tokenizer<boost::char_separator<char>>::iterator beg = tok.begin(); beg != tok.end(); ++beg)
67  {
68  try
69  {
70  constraint_samplers::ConstraintSamplerAllocatorPtr csa =
71  constraint_sampler_plugin_loader_->createUniqueInstance(*beg);
72  csm->registerSamplerAllocator(csa);
73  ROS_INFO("Loaded constraint sampling plugin %s", std::string(*beg).c_str());
74  }
76  {
77  ROS_ERROR_STREAM("Exception while planning adapter plugin '" << *beg << "': " << ex.what());
78  }
79  }
80  }
81  }
82 
83 private:
85  std::unique_ptr<pluginlib::ClassLoader<constraint_samplers::ConstraintSamplerAllocator>>
87 };
88 
90  const constraint_samplers::ConstraintSamplerManagerPtr& csm)
91  : constraint_sampler_manager_(csm ? csm : std::make_shared<constraint_samplers::ConstraintSamplerManager>())
92  , impl_(new Helper(constraint_sampler_manager_))
93 {
94 }
95 } // namespace constraint_sampler_manager_loader
Helper
ROS_ERROR_STREAM
#define ROS_ERROR_STREAM(args)
constraint_sampler_manager_loader.h
ros::NodeHandle::getParam
bool getParam(const std::string &key, bool &b) const
ros.h
constraint_sampler_manager_loader::ConstraintSamplerManagerLoader::Helper::constraint_sampler_plugin_loader_
std::unique_ptr< pluginlib::ClassLoader< constraint_samplers::ConstraintSamplerAllocator > > constraint_sampler_plugin_loader_
Definition: constraint_sampler_manager_loader.cpp:150
pluginlib::PluginlibException
constraint_samplers
constraint_sampler_manager_loader::ConstraintSamplerManagerLoader::ConstraintSamplerManagerLoader
ConstraintSamplerManagerLoader(const constraint_samplers::ConstraintSamplerManagerPtr &csm=constraint_samplers::ConstraintSamplerManagerPtr())
Definition: constraint_sampler_manager_loader.cpp:121
constraint_sampler_manager_loader::ConstraintSamplerManagerLoader::Helper::Helper
Helper(const constraint_samplers::ConstraintSamplerManagerPtr &csm)
Definition: constraint_sampler_manager_loader.cpp:112
class_loader.hpp
constraint_sampler_manager_loader
Definition: constraint_sampler_manager_loader.h:42
std
constraint_sampler_manager_loader::ConstraintSamplerManagerLoader::Helper::nh_
ros::NodeHandle nh_
Definition: constraint_sampler_manager_loader.cpp:148
ROS_INFO
#define ROS_INFO(...)
ros::NodeHandle


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Sun Nov 3 2024 03:27:03