list_capabilities.cpp

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/* Author: Ioan Sucan */

#include <moveit/move_group/move_group_capability.h>
#include <pluginlib/class_loader.h>
#include <boost/algorithm/string/join.hpp>

int main(int argc, char **argv)
{
  try
  {
    pluginlib::ClassLoader<move_group::MoveGroupCapability> capability_plugin_loader("moveit_ros_move_group", "move_group::MoveGroupCapability");
    std::cout << "Available capabilities:\n" << boost::algorithm::join(capability_plugin_loader.getDeclaredClasses(), "\n") << std::endl;
  }
  catch (pluginlib::PluginlibException& ex)
  {
    std::cerr << "Exception while creating plugin loader for move_group capabilities: " << ex.what() << std::endl;
  }

  return 0;
}