collision_plugin_loader.cpp
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00034 
00035 #include <moveit/collision_plugin_loader/collision_plugin_loader.h>
00036 #include <pluginlib/class_loader.h>
00037 
00038 namespace collision_detection
00039 {
00040 class CollisionPluginLoader::CollisionPluginLoaderImpl
00041 {
00042 public:
00043   CollisionPluginLoaderImpl()
00044   {
00045     try
00046     {
00047       loader_.reset(new pluginlib::ClassLoader<CollisionPlugin>("moveit_core", "collision_detection::CollisionPlugin"));
00048     }
00049     catch (pluginlib::PluginlibException& e)
00050     {
00051       ROS_ERROR("Unable to construct colllision plugin loader. Error: %s", e.what());
00052     }
00053   }
00054 
00055   CollisionPluginPtr load(const std::string& name)
00056   {
00057     CollisionPluginPtr plugin;
00058     try
00059     {
00060       plugin.reset(loader_->createUnmanagedInstance(name));
00061       plugins_[name] = plugin;
00062     }
00063     catch (pluginlib::PluginlibException& ex)
00064     {
00065       ROS_ERROR_STREAM("Exception while loading " << name << ": " << ex.what());
00066     }
00067     return plugin;
00068   }
00069 
00070   bool activate(const std::string& name, const planning_scene::PlanningScenePtr& scene, bool exclusive)
00071   {
00072     std::map<std::string, CollisionPluginPtr>::iterator it = plugins_.find(name);
00073     if (it == plugins_.end())
00074     {
00075       CollisionPluginPtr plugin = load(name);
00076       if (plugin)
00077       {
00078         return plugin->initialize(scene, exclusive);
00079       }
00080       return false;
00081     }
00082     if (it->second)
00083     {
00084       return it->second->initialize(scene, exclusive);
00085     }
00086     return false;
00087   }
00088 
00089 private:
00090   boost::shared_ptr<pluginlib::ClassLoader<CollisionPlugin> > loader_;
00091   std::map<std::string, CollisionPluginPtr> plugins_;
00092 };
00093 
00094 CollisionPluginLoader::CollisionPluginLoader()
00095 {
00096   loader_.reset(new CollisionPluginLoaderImpl());
00097 }
00098 
00099 CollisionPluginLoader::~CollisionPluginLoader()
00100 {
00101 }
00102 
00103 bool CollisionPluginLoader::activate(const std::string& name, const planning_scene::PlanningScenePtr& scene,
00104                                      bool exclusive)
00105 {
00106   return loader_->activate(name, scene, exclusive);
00107 }
00108 
00109 void CollisionPluginLoader::setupScene(ros::NodeHandle& nh, const planning_scene::PlanningScenePtr& scene)
00110 {
00111   if (!scene)
00112     return;
00113 
00114   std::string param_name;
00115   std::string collision_detector_name;
00116 
00117   if (nh.searchParam("collision_detector", param_name))
00118   {
00119     nh.getParam(param_name, collision_detector_name);
00120   }
00121   else if (nh.hasParam("/move_group/collision_detector"))
00122   {
00123     // Check for existence in move_group namespace
00124     // mainly for rviz plugins to get same collision detector.
00125     nh.getParam("/move_group/collision_detector", collision_detector_name);
00126   }
00127   else
00128   {
00129     return;
00130   }
00131 
00132   if (collision_detector_name == "")
00133   {
00134     // This is not a valid name for a collision detector plugin
00135     return;
00136   }
00137 
00138   activate(collision_detector_name, scene, true);
00139   ROS_INFO_STREAM("Using collision detector:" << scene->getActiveCollisionDetectorName().c_str());
00140 }
00141 
00142 }  // namespace collision_detection


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Apr 23 2018 10:25:14