controller_provider.h

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#pragma once
 
/***************************************************/
/***************************************************/
 
#include <ros/node_handle.h>
 
namespace pr2_controller_interface
{
 
class Controller;
 
class ControllerProvider
{
public:
  ControllerProvider(){}
  virtual ~ControllerProvider(){}
 
  template<class ControllerType> bool getControllerByName(const std::string& name, ControllerType*& c)
  {
    // get controller
    pr2_controller_interface::Controller* controller = getControllerByName(name);
    if (controller == NULL) return false;
 
    // cast controller to ControllerType
    ControllerType* controller_type = dynamic_cast< ControllerType* >(controller);
    if (controller_type == NULL)  return false;
 
    // copy result
    c = controller_type;
    return true;
  };
 
private:
  virtual pr2_controller_interface::Controller* getControllerByName(const std::string& name) = 0;
 
  ControllerProvider(const ControllerProvider &c);
  ControllerProvider& operator =(const ControllerProvider &c);
 
};
}