controller_provider.h
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00034 #pragma once
00035 
00036 /***************************************************/
00044 /***************************************************/
00045 
00046 #include <ros/node_handle.h>
00047 
00048 namespace pr2_controller_interface
00049 {
00050 
00051 class Controller;
00052 
00053 class ControllerProvider
00054 {
00055 public:
00056   ControllerProvider(){}
00057   virtual ~ControllerProvider(){}
00058 
00059   template<class ControllerType> bool getControllerByName(const std::string& name, ControllerType*& c)
00060   {
00061     // get controller
00062     pr2_controller_interface::Controller* controller = getControllerByName(name);
00063     if (controller == NULL) return false;
00064 
00065     // cast controller to ControllerType
00066     ControllerType* controller_type = dynamic_cast< ControllerType* >(controller);
00067     if (controller_type == NULL)  return false;
00068 
00069     // copy result
00070     c = controller_type;
00071     return true;
00072   };
00073 
00074 private:
00075   virtual pr2_controller_interface::Controller* getControllerByName(const std::string& name) = 0;
00076 
00077   ControllerProvider(const ControllerProvider &c);
00078   ControllerProvider& operator =(const ControllerProvider &c);
00079 
00080 };
00081 }


pr2_controller_interface
Author(s): Wim Meeussen
autogenerated on Mon Dec 2 2013 13:13:10