constraint_sampler_manager_loader.cpp
Go to the documentation of this file.
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Willow Garage nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *********************************************************************/
34 
35 /* Author: Ioan Sucan */
36 
39 #include <ros/ros.h>
40 #include <boost/tokenizer.hpp>
41 #include <memory>
42 
44 {
46 {
47 public:
48  Helper(const constraint_samplers::ConstraintSamplerManagerPtr& csm) : nh_("~")
49  {
50  std::string constraint_samplers;
51  if (nh_.getParam("constraint_samplers", constraint_samplers))
52  {
53  try
54  {
57  "moveit_core", "constraint_samplers::ConstraintSamplerAllocator"));
58  }
60  {
61  ROS_ERROR_STREAM("Exception while creating constraint sampling plugin loader " << ex.what());
62  return;
63  }
64  boost::char_separator<char> sep(" ");
65  boost::tokenizer<boost::char_separator<char> > tok(constraint_samplers, sep);
66  for (boost::tokenizer<boost::char_separator<char> >::iterator beg = tok.begin(); beg != tok.end(); ++beg)
67  {
68  try
69  {
71  constraint_sampler_plugin_loader_->createUnmanagedInstance(*beg);
72  csm->registerSamplerAllocator(constraint_samplers::ConstraintSamplerAllocatorPtr(csa));
73  ROS_INFO("Loaded constraint sampling plugin %s", std::string(*beg).c_str());
74  }
76  {
77  ROS_ERROR_STREAM("Exception while planning adapter plugin '" << *beg << "': " << ex.what());
78  }
79  }
80  }
81  }
82 
83 private:
85  std::unique_ptr<pluginlib::ClassLoader<constraint_samplers::ConstraintSamplerAllocator> >
87 };
88 
90  const constraint_samplers::ConstraintSamplerManagerPtr& csm)
91  : constraint_sampler_manager_(csm ? csm : constraint_samplers::ConstraintSamplerManagerPtr(
92  new constraint_samplers::ConstraintSamplerManager()))
94 {
95 }
96 }
ConstraintSamplerManagerLoader(const constraint_samplers::ConstraintSamplerManagerPtr &csm=constraint_samplers::ConstraintSamplerManagerPtr())
std::unique_ptr< pluginlib::ClassLoader< constraint_samplers::ConstraintSamplerAllocator > > constraint_sampler_plugin_loader_
#define ROS_INFO(...)
bool getParam(const std::string &key, std::string &s) const
#define ROS_ERROR_STREAM(args)
constraint_samplers::ConstraintSamplerManagerPtr constraint_sampler_manager_


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Tue Jun 12 2018 02:48:13