pluginlib_tutorials: polygon_loader.cpp Source File

00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
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00005 *  Copyright (c) 2009, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
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00016 *     disclaimer in the documentation and/or other materials provided
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00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
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00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #include <pluginlib/class_loader.h>
00038 #include <pluginlib_tutorials/polygon_base.h>
00039 
00040 int main(int argc, char** argv)
00041 {
00042   pluginlib::ClassLoader<polygon_base::RegularPolygon> poly_loader("pluginlib_tutorials", "polygon_base::RegularPolygon");
00043 
00044   polygon_base::RegularPolygon* triangle = NULL;
00045   polygon_base::RegularPolygon* square = NULL;
00046 
00047   try
00048   {
00049     triangle = poly_loader.createClassInstance("pluginlib_tutorials/regular_triangle");
00050     triangle->initialize(10.0);
00051 
00052     square = poly_loader.createClassInstance("pluginlib_tutorials/regular_square");
00053     square->initialize(10.0);
00054 
00055     ROS_INFO("Triangle area: %.2f", triangle->area());
00056     ROS_INFO("Square area: %.2f", square->area());
00057   }
00058   catch(pluginlib::PluginlibException& ex)
00059   {
00060     ROS_ERROR("The plugin failed to load for some reason. Error: %s", ex.what());
00061   }
00062 
00063   return 0;
00064 }