nodelet::Loader Class Reference

A class which will construct and sequentially call Nodelets according to xml This is the primary way in which users are expected to interact with Nodelets. More...

#include <loader.h>

List of all members.

Public Member Functions
bool	clear ()
	Clear all nodelets from this loader.
std::vector< std::string >	listLoadedNodelets ()
	List the names of all loaded nodelets.
bool	load (const std::string &name, const std::string &type, const M_string &remappings, const V_string &my_argv, boost::shared_ptr< bond::Bond > bond=boost::shared_ptr< bond::Bond >((bond::Bond *) NULL))
	Loader (ros::NodeHandle server_nh)
	Construct the nodelet loader with optional ros API in namespace of passed NodeHandle.
	Loader (bool provide_ros_api=true)
	Construct the nodelet loader with optional ros API at default location of NodeHandle("~").
bool	unload (const std::string &name)
	~Loader ()
Private Types
typedef boost::shared_ptr < pluginlib::ClassLoader < Nodelet > >	ClassLoaderPtr
typedef std::map< std::string, NodeletPtr >	M_stringToNodelet
Private Member Functions
void	constructorImplementation (bool provide_ros_api, ros::NodeHandle server_nh)
Private Attributes
detail::CallbackQueueManagerPtr	callback_manager_
ClassLoaderPtr	loader_
boost::mutex	lock_
	! A lock to protect internal integrity. Every external method should lock it for safety.
M_stringToNodelet	nodelets_
	! A map of name to pointers of currently constructed nodelets
detail::LoaderROSPtr	services_

Detailed Description

A class which will construct and sequentially call Nodelets according to xml This is the primary way in which users are expected to interact with Nodelets.

Definition at line 74 of file loader.h.

Member Typedef Documentation

typedef boost::shared_ptr<pluginlib::ClassLoader<Nodelet> > nodelet::Loader::ClassLoaderPtr [private]

Definition at line 101 of file loader.h.

typedef std::map<std::string, NodeletPtr> nodelet::Loader::M_stringToNodelet [private]

Definition at line 98 of file loader.h.

Constructor & Destructor Documentation

nodelet::Loader::Loader ( bool provide_ros_api = true )

Construct the nodelet loader with optional ros API at default location of NodeHandle("~").

Definition at line 124 of file loader.cpp.

nodelet::Loader::Loader ( ros::NodeHandle server_nh )

Construct the nodelet loader with optional ros API in namespace of passed NodeHandle.

Definition at line 130 of file loader.cpp.

nodelet::Loader::~Loader ( )

Definition at line 160 of file loader.cpp.

Member Function Documentation

bool nodelet::Loader::clear ( )

Clear all nodelets from this loader.

Clear all nodelets from this chain.

Todo:: This isn't really safe - can result in worker threads for outstanding callbacks operating on nodelet data as/after it's destroyed.

Definition at line 230 of file loader.cpp.

void nodelet::Loader::constructorImplementation	(	bool	provide_ros_api,
		ros::NodeHandle	server_nh
	)			`[private]`

Definition at line 136 of file loader.cpp.

std::vector< std::string > nodelet::Loader::listLoadedNodelets ( )

List the names of all loaded nodelets.

Definition at line 240 of file loader.cpp.

bool nodelet::Loader::load	(	const std::string &	name,
		const std::string &	type,
		const M_string &	remappings,
		const V_string &	my_argv,
		boost::shared_ptr< bond::Bond >	bond = `boost::shared_ptr< bond::Bond >((bond::Bond *) NULL)`
	)