00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, 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 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 00035 /* Author: Ioan Sucan */ 00036 00037 #include <moveit/constraint_sampler_manager_loader/constraint_sampler_manager_loader.h> 00038 #include <pluginlib/class_loader.h> 00039 #include <ros/ros.h> 00040 #include <boost/tokenizer.hpp> 00041 00042 namespace constraint_sampler_manager_loader 00043 { 00044 00045 class ConstraintSamplerManagerLoader::Helper 00046 { 00047 public: 00048 00049 Helper(const constraint_samplers::ConstraintSamplerManagerPtr &csm) : 00050 nh_("~") 00051 { 00052 std::string constraint_samplers; 00053 if (nh_.getParam("constraint_samplers", constraint_samplers)) 00054 { 00055 try 00056 { 00057 constraint_sampler_plugin_loader_.reset(new pluginlib::ClassLoader<constraint_samplers::ConstraintSamplerAllocator>("moveit_core", "constraint_samplers::ConstraintSamplerAllocator")); 00058 } 00059 catch(pluginlib::PluginlibException& ex) 00060 { 00061 ROS_ERROR_STREAM("Exception while creating constraint sampling plugin loader " << ex.what()); 00062 return; 00063 } 00064 boost::char_separator<char> sep(" "); 00065 boost::tokenizer<boost::char_separator<char> > tok(constraint_samplers, sep); 00066 for (boost::tokenizer<boost::char_separator<char> >::iterator beg = tok.begin() ; beg != tok.end(); ++beg) 00067 { 00068 try 00069 { 00070 constraint_samplers::ConstraintSamplerAllocator *csa = constraint_sampler_plugin_loader_->createUnmanagedInstance(*beg); 00071 csm->registerSamplerAllocator(constraint_samplers::ConstraintSamplerAllocatorPtr(csa)); 00072 ROS_INFO("Loaded constraint sampling plugin %s", std::string(*beg).c_str()); 00073 } 00074 catch (pluginlib::PluginlibException& ex) 00075 { 00076 ROS_ERROR_STREAM("Exception while planning adapter plugin '" << *beg << "': " << ex.what()); 00077 } 00078 } 00079 } 00080 } 00081 00082 private: 00083 00084 ros::NodeHandle nh_; 00085 boost::scoped_ptr<pluginlib::ClassLoader<constraint_samplers::ConstraintSamplerAllocator> > constraint_sampler_plugin_loader_; 00086 }; 00087 00088 ConstraintSamplerManagerLoader::ConstraintSamplerManagerLoader(const constraint_samplers::ConstraintSamplerManagerPtr &csm) : 00089 constraint_sampler_manager_(csm ? csm : constraint_samplers::ConstraintSamplerManagerPtr(new constraint_samplers::ConstraintSamplerManager())), 00090 impl_(new Helper(constraint_sampler_manager_)) 00091 { 00092 } 00093 00094 }