Class ClipsPlugin

Defined in File clips_plugin.hpp

Class Documentation

class ClipsPlugin

Clips Plugin.

This base class provides the interface for clips plugins that are managed by the ClipsPluginManager.

Inherit from this class and export your class as plugin via pluginlib.

Public Functions

ClipsPlugin()

virtual ~ClipsPlugin()

virtual void initialize(): Called once for each plugin when it is loaded.

virtual void finalize(): Called once for each plugin when it is unloaded.

virtual bool clips_env_init(std::shared_ptr<clips::Environment> &env) = 0

Called after initialize once for every managed Clips environment.

Register your user-defined functions here and store the references of the environment for usage. The clips environment should not be locked in this function as the plugin manager takes care of that. Only lock the Clips environment when accessing it from separate threads, such as callbacks.

Parameters:: env – [in] a pointer to a Clips environment including a mutex to lock before usage in other threads.
Returns:: true iff the initialization succeeded

virtual bool clips_env_destroyed(std::shared_ptr<clips::Environment> &env) = 0

Called once for every managed Clips environment on shutting down the environment.

Parameters:: env – [in] a pointer to a Clips environment including a mutex to lock before usage in other threads.
Returns:: true iff the initialization succeeded

std::string get_plugin_name() const

Protected Attributes

std::string plugin_name_: Configured name of the plugin.

rclcpp_lifecycle::LifecycleNode::WeakPtr parent_: Reference to parent node in case ROS interaction is needed.