collision_plugin_loader.cpp

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#include <moveit/collision_plugin_loader/collision_plugin_loader.h>
#include <pluginlib/class_loader.hpp>
#include <memory>

namespace collision_detection
{
class CollisionPluginLoader::CollisionPluginLoaderImpl
{
public:
  CollisionPluginLoaderImpl()
  {
    try
    {
      loader_.reset(new pluginlib::ClassLoader<CollisionPlugin>("moveit_core", "collision_detection::CollisionPlugin"));
    }
    catch (pluginlib::PluginlibException& e)
    {
      ROS_ERROR("Unable to construct colllision plugin loader. Error: %s", e.what());
    }
  }

  CollisionPluginPtr load(const std::string& name)
  {
    CollisionPluginPtr plugin;
    try
    {
      plugin.reset(loader_->createUnmanagedInstance(name));
      plugins_[name] = plugin;
    }
    catch (pluginlib::PluginlibException& ex)
    {
      ROS_ERROR_STREAM("Exception while loading " << name << ": " << ex.what());
    }
    return plugin;
  }

  bool activate(const std::string& name, const planning_scene::PlanningScenePtr& scene, bool exclusive)
  {
    std::map<std::string, CollisionPluginPtr>::iterator it = plugins_.find(name);
    if (it == plugins_.end())
    {
      CollisionPluginPtr plugin = load(name);
      if (plugin)
      {
        return plugin->initialize(scene, exclusive);
      }
      return false;
    }
    if (it->second)
    {
      return it->second->initialize(scene, exclusive);
    }
    return false;
  }

private:
  std::shared_ptr<pluginlib::ClassLoader<CollisionPlugin> > loader_;
  std::map<std::string, CollisionPluginPtr> plugins_;
};

CollisionPluginLoader::CollisionPluginLoader()
{
  loader_.reset(new CollisionPluginLoaderImpl());
}

CollisionPluginLoader::~CollisionPluginLoader()
{
}

bool CollisionPluginLoader::activate(const std::string& name, const planning_scene::PlanningScenePtr& scene,
                                     bool exclusive)
{
  return loader_->activate(name, scene, exclusive);
}

void CollisionPluginLoader::setupScene(ros::NodeHandle& nh, const planning_scene::PlanningScenePtr& scene)
{
  if (!scene)
    return;

  std::string param_name;
  std::string collision_detector_name;

  if (nh.searchParam("collision_detector", param_name))
  {
    nh.getParam(param_name, collision_detector_name);
  }
  else if (nh.hasParam("/move_group/collision_detector"))
  {
    // Check for existence in move_group namespace
    // mainly for rviz plugins to get same collision detector.
    nh.getParam("/move_group/collision_detector", collision_detector_name);
  }
  else
  {
    return;
  }

  if (collision_detector_name == "")
  {
    // This is not a valid name for a collision detector plugin
    return;
  }

  activate(collision_detector_name, scene, true);
  ROS_INFO_STREAM("Using collision detector:" << scene->getActiveCollisionDetectorName().c_str());
}

}  // namespace collision_detection