polygon_loader.cpp
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2013, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033 *  POSSIBILITY OF SUCH DAMAGE.
00034 *
00035 * Author: Eitan Marder-Eppstein
00036 * Author: Isaac Saito
00037 *********************************************************************/
00038 
00039 #include <boost/shared_ptr.hpp>
00040 
00041 #include <pluginlib/class_loader.h>
00042 #include <pluginlib_tutorials/polygon_base.h>
00043 
00044 int main(int argc, char** argv)
00045 {
00046   pluginlib::ClassLoader<polygon_base::RegularPolygon> poly_loader("pluginlib_tutorials", "polygon_base::RegularPolygon");
00047 
00048   try
00049   {
00050     boost::shared_ptr<polygon_base::RegularPolygon> triangle = poly_loader.createInstance("pluginlib_tutorials/regular_triangle");
00051     triangle->initialize(10.0);
00052 
00053     ROS_INFO("Triangle area: %.2f", triangle->area());
00054   }
00055   catch(pluginlib::PluginlibException& ex)
00056   {
00057     ROS_ERROR("The plugin failed to load for some reason. Error: %s", ex.what());
00058   }
00059 
00060   try
00061   {
00062     boost::shared_ptr<polygon_base::RegularPolygon> square = poly_loader.createInstance("pluginlib_tutorials/regular_square");
00063     square->initialize(10.0);
00064 
00065     ROS_INFO("Square area: %.2f", square->area());
00066   }
00067   catch(pluginlib::PluginlibException& ex)
00068   {
00069     ROS_ERROR("The plugin failed to load for some reason. Error: %s", ex.what());
00070   }
00071 
00072   return 0;
00073 }


pluginlib_tutorials
Author(s): Eitan Marder-Eppstein
autogenerated on Sun Oct 5 2014 23:14:54