list.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <pluginlib/class_loader.h>
00038 #include <moveit/planning_request_adapter/planning_request_adapter.h>
00039 #include <ros/ros.h>
00040 
00041 int main(int argc, char** argv)
00042 {
00043   ros::init(argc, argv, "list_planning_adapter_plugins");
00044 
00045   boost::scoped_ptr<pluginlib::ClassLoader<planning_request_adapter::PlanningRequestAdapter> > loader;
00046   try
00047   {
00048     loader.reset(new pluginlib::ClassLoader<planning_request_adapter::PlanningRequestAdapter>(
00049         "moveit_core", "planning_request_adapter::PlanningRequestAdapter"));
00050   }
00051   catch (pluginlib::PluginlibException& ex)
00052   {
00053     std::cout << "Exception while creating class loader " << ex.what() << std::endl;
00054   }
00055 
00056   const std::vector<std::string>& classes = loader->getDeclaredClasses();
00057   std::cout << "Available planning request adapter plugins:" << std::endl;
00058   for (std::size_t i = 0; i < classes.size(); ++i)
00059   {
00060     std::cout << " \t " << classes[i] << std::endl;
00061     planning_request_adapter::PlanningRequestAdapterConstPtr ad;
00062     try
00063     {
00064       ad.reset(loader->createUnmanagedInstance(classes[i]));
00065     }
00066     catch (pluginlib::PluginlibException& ex)
00067     {
00068       std::cout << " \t\t  Exception while planning adapter plugin '" << classes[i] << "': " << ex.what() << std::endl;
00069     }
00070     if (ad)
00071       std::cout << " \t\t  " << ad->getDescription() << std::endl;
00072     std::cout << std::endl << std::endl;
00073   }
00074 
00075   return 0;
00076 }


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Tue Dec 26 2017 03:33:56