benchmarks_utils.cpp

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/* Author: Ioan Sucan */

#include <moveit/benchmarks/benchmarks_utils.h>
#include <pluginlib/class_loader.h>
#include <moveit/planning_interface/planning_interface.h>
#include <unistd.h>

namespace moveit_benchmarks
{

// keep this function in a separate file so we don't have the class_loader and mongoDB in the same namespace
// as that couses boost::filesystem version issues (redefinition of symbols)
std::vector<std::string> benchmarkGetAvailablePluginNames()
{
  // load the planning plugins
  boost::scoped_ptr<pluginlib::ClassLoader<planning_interface::PlannerManager> > planner_plugin_loader;
  try
  {
    planner_plugin_loader.reset(new pluginlib::ClassLoader<planning_interface::PlannerManager>("moveit_core", "planning_interface::PlannerManager"));
  }
  catch(pluginlib::PluginlibException& ex)
  {
    std::cerr << "Exception while creating planning plugin loader " << ex.what() << std::endl;
  }

  if (planner_plugin_loader)
    return planner_plugin_loader->getDeclaredClasses();
  else
    return std::vector<std::string>();
}

std::string getHostname()
{
  static const int BUF_SIZE = 1024;
  char buffer[BUF_SIZE];
  int err = gethostname(buffer, sizeof(buffer));
  if (err != 0)
    return std::string();
  else
  {
    buffer[BUF_SIZE - 1] = '\0';
    return std::string(buffer);
  }
}

}