00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 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 }