controller_loader.h
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00001 
00002 // Copyright (C) 2012, hiDOF, Inc
00003 //
00004 // Redistribution and use in source and binary forms, with or without
00005 // modification, are permitted provided that the following conditions are met:
00006 //   * Redistributions of source code must retain the above copyright notice,
00007 //     this list of conditions and the following disclaimer.
00008 //   * Redistributions in binary form must reproduce the above copyright
00009 //     notice, this list of conditions and the following disclaimer in the
00010 //     documentation and/or other materials provided with the distribution.
00011 //   * Neither the name of hiDOF, Inc. nor the names of its
00012 //     contributors may be used to endorse or promote products derived from
00013 //     this software without specific prior written permission.
00014 //
00015 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025 // POSSIBILITY OF SUCH DAMAGE.
00027 
00028 #ifndef CONRTOLLER_MANAGER_CONTROLLER_LOADER_H
00029 #define CONRTOLLER_MANAGER_CONTROLLER_LOADER_H
00030 
00031 #include <pluginlib/class_loader.h>
00032 #include <controller_manager/controller_loader_interface.h>
00033 #include <boost/shared_ptr.hpp>
00034 
00035 namespace controller_manager
00036 {
00037 
00047 template <class T>
00048 class ControllerLoader : public ControllerLoaderInterface
00049 {
00050 public:
00051   ControllerLoader(const std::string& package, const std::string& base_class) :
00052     ControllerLoaderInterface(base_class),
00053     package_(package),
00054     base_class_(base_class)
00055   {
00056     reload();
00057   }
00058 
00059   boost::shared_ptr<controller_interface::ControllerBase> createInstance(const std::string& lookup_name)
00060   {
00061     return controller_loader_->createInstance(lookup_name);
00062   }
00063 
00064   std::vector<std::string> getDeclaredClasses()
00065   {
00066     return controller_loader_->getDeclaredClasses();
00067   }
00068 
00069   void reload()
00070   {
00071     controller_loader_.reset(new pluginlib::ClassLoader<T>(package_, base_class_) );
00072   }
00073 
00074 private:
00075   std::string package_;
00076   std::string base_class_;
00077   boost::shared_ptr<pluginlib::ClassLoader<T> > controller_loader_;
00078 };
00079 
00080 }
00081 
00082 #endif


controller_manager
Author(s): Wim Meeussen
autogenerated on Fri Aug 28 2015 12:36:18