00001 /* 00002 * Copyright (c) 2012, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 #include <ros/console.h> 00030 #include <pluginlib/class_loader.h> 00031 #include <vector> 00032 #include <string> 00033 #include <iostream> 00034 00035 @ 00036 00037 extern "C" 00038 { 00039 std::vector<std::string> availablePlugins(const std::string& package_name) 00040 { 00041 pluginlib::ClassLoader<$> class_loader(package_name, "$"); 00042 return(class_loader.getDeclaredClasses()); 00043 } 00044 00045 bool loadPlugin(const std::string& package_name, const std::string& class_name) 00046 { 00047 pluginlib::ClassLoader<$> class_loader(package_name, "$"); 00048 try 00049 { 00050 class_loader.createInstance(class_name); 00051 return true; 00052 } 00053 catch(...) 00054 { 00055 return false; 00056 } 00057 } 00058 00059 std::string whereIsPluginLocated(const std::string& package_name, const std::string& class_name) 00060 { 00061 pluginlib::ClassLoader<$> class_loader(package_name, "$"); 00062 try 00063 { 00064 return class_loader.getClassLibraryPath(class_name); 00065 } 00066 catch(...) 00067 { 00068 return ("Could not find location of plugin " + class_name); 00069 } 00070 } 00071 }