constraint_sampler_manager_loader.cpp
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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 class ConstraintSamplerManagerLoader::Helper
00045 {
00046 public:
00047   Helper(const constraint_samplers::ConstraintSamplerManagerPtr& csm) : nh_("~")
00048   {
00049     std::string constraint_samplers;
00050     if (nh_.getParam("constraint_samplers", constraint_samplers))
00051     {
00052       try
00053       {
00054         constraint_sampler_plugin_loader_.reset(
00055             new pluginlib::ClassLoader<constraint_samplers::ConstraintSamplerAllocator>(
00056                 "moveit_core", "constraint_samplers::ConstraintSamplerAllocator"));
00057       }
00058       catch (pluginlib::PluginlibException& ex)
00059       {
00060         ROS_ERROR_STREAM("Exception while creating constraint sampling plugin loader " << ex.what());
00061         return;
00062       }
00063       boost::char_separator<char> sep(" ");
00064       boost::tokenizer<boost::char_separator<char> > tok(constraint_samplers, sep);
00065       for (boost::tokenizer<boost::char_separator<char> >::iterator beg = tok.begin(); beg != tok.end(); ++beg)
00066       {
00067         try
00068         {
00069           constraint_samplers::ConstraintSamplerAllocator* csa =
00070               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   ros::NodeHandle nh_;
00084   boost::scoped_ptr<pluginlib::ClassLoader<constraint_samplers::ConstraintSamplerAllocator> >
00085       constraint_sampler_plugin_loader_;
00086 };
00087 
00088 ConstraintSamplerManagerLoader::ConstraintSamplerManagerLoader(
00089     const constraint_samplers::ConstraintSamplerManagerPtr& csm)
00090   : constraint_sampler_manager_(csm ? csm : constraint_samplers::ConstraintSamplerManagerPtr(
00091                                                 new constraint_samplers::ConstraintSamplerManager()))
00092   , impl_(new Helper(constraint_sampler_manager_))
00093 {
00094 }
00095 }


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