controller_loader.h

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// Copyright (C) 2012, hiDOF, Inc
//
// 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.
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//     contributors may be used to endorse or promote products derived from
//     this software without specific prior written permission.
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#ifndef CONRTOLLER_MANAGER_CONTROLLER_LOADER_H
#define CONRTOLLER_MANAGER_CONTROLLER_LOADER_H

#include <pluginlib/class_loader.hpp>
#include <controller_manager/controller_loader_interface.h>
#include <boost/shared_ptr.hpp>

namespace controller_manager
{

template <class T>
class ControllerLoader : public ControllerLoaderInterface
{
public:
  ControllerLoader(const std::string& package, const std::string& base_class) :
    ControllerLoaderInterface(base_class),
    package_(package),
    base_class_(base_class)
  {
    reload();
  }

  controller_interface::ControllerBaseSharedPtr createInstance(const std::string& lookup_name)
  {
    return controller_loader_->createInstance(lookup_name);
  }

  std::vector<std::string> getDeclaredClasses()
  {
    return controller_loader_->getDeclaredClasses();
  }

  void reload()
  {
    controller_loader_.reset(new pluginlib::ClassLoader<T>(package_, base_class_) );
  }

private:
  std::string package_;
  std::string base_class_;
  boost::shared_ptr<pluginlib::ClassLoader<T> > controller_loader_;
};

}

#endif