visualization_loader.cpp

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#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <console_bridge/console.h>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_visualization/visualization_loader.h>
#include <tesseract_visualization/visualization.h>
#include <tesseract_common/class_loader.h>
 
const std::string TESSERACT_IGNITION_LIBRARY_NAME = "tesseract_visualization_ignition_visualization_plugin";
const std::string TESSERACT_IGNITION_SYMBOL_NAME = "TesseractIgnitionVisualizationPlugin";
 
const std::string TESSERACT_VISUALIZATION_PLUGIN_DIRECTORIES_ENV = "TESSERACT_VISUALIZATION_PLUGIN_DIRECTORIES";
const std::string TESSERACT_VISUALIZATION_PLUGINS_ENV = "TESSERACT_VISUALIZATION_PLUGINS";
 
namespace tesseract_visualization
{
VisualizationLoader::VisualizationLoader()
{
  search_paths_env = TESSERACT_VISUALIZATION_PLUGIN_DIRECTORIES_ENV;
  search_libraries_env = TESSERACT_VISUALIZATION_PLUGINS_ENV;
  search_libraries.insert(TESSERACT_IGNITION_LIBRARY_NAME);
  search_paths.insert(TESSERACT_VISUALIZATION_PLUGIN_PATH);
}
 
std::shared_ptr<Visualization> VisualizationLoader::get(std::string plugin_name) const
{
  if (plugin_name.empty())
    plugin_name = TESSERACT_IGNITION_SYMBOL_NAME;
 
  try
  {
    return instantiate<Visualization>(plugin_name);
  }
  catch (const std::exception&)
  {
    CONSOLE_BRIDGE_logWarn("Failed to load symbol '%s'", plugin_name.c_str());
    return nullptr;
  }
}
 
}  // namespace tesseract_visualization