plugin_loader_base.h

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//=================================================================================================
// Copyright (c) 2016, Alexander Stumpf, TU Darmstadt
// Based on pluginlib (http://wiki.ros.org/pluginlib)
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of the Simulation, Systems Optimization and Robotics
//       group, TU Darmstadt nor the names of its contributors may be used to
//       endorse or promote products derived from this software without
//       specific prior written permission.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//=================================================================================================

#ifndef VIGIR_PLUGINLIB_PLUGIN_LOADER_BASE_H__
#define VIGIR_PLUGINLIB_PLUGIN_LOADER_BASE_H__

#include <ros/ros.h>

#include <pluginlib/class_loader_base.h>

#include <vigir_pluginlib/plugin.h>



namespace vigir_pluginlib
{
class PluginLoaderBase
  : public virtual pluginlib::ClassLoaderBase
{
public:
  PluginLoaderBase(std::string package, std::string base_class, std::string attrib_name = std::string("plugin"), std::vector<std::string> plugin_xml_paths = std::vector<std::string>());

  virtual Plugin::Ptr createPluginInstance(const std::string& lookup_name) = 0;

  std::string getBaseClassPackage() const;

protected:
  std::string base_class_package_;
};
}

#endif