loader.h
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00001 /*
00002  * Copyright (c) 2010, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00036 #ifndef NODELET_LOADER_H
00037 #define NODELET_LOADER_H
00038 
00039 #include <map>
00040 #include <vector>
00041 #include <boost/function.hpp>
00042 #include <boost/scoped_ptr.hpp>
00043 #include <boost/shared_ptr.hpp>
00044 #include <boost/thread/mutex.hpp>
00045 
00046 namespace ros
00047 {
00048 class NodeHandle;
00049 }
00050 
00051 namespace nodelet
00052 {
00053 class Nodelet;
00054 typedef std::map<std::string, std::string> M_string;
00055 typedef std::vector<std::string> V_string;
00056 
00060 class Loader
00061 {
00062 public:
00064   Loader(bool provide_ros_api = true);
00066   Loader(const ros::NodeHandle& server_nh);
00071   Loader(const boost::function<boost::shared_ptr<Nodelet> (const std::string& lookup_name)>& create_instance);
00072   
00073   ~Loader();
00074 
00076   bool load(const std::string& name, const std::string& type, const M_string& remappings,
00077             const V_string& my_argv);
00078 
00080   bool unload(const std::string& name);
00081 
00083   bool clear();
00084 
00086   std::vector<std::string> listLoadedNodelets();
00087   
00088 private:
00089   boost::mutex lock_; 
00090   struct Impl;
00091   boost::scoped_ptr<Impl> impl_;
00092 };
00093 
00094 } // namespace nodelet
00095 
00096 #endif //#ifndef NODELET_LOADER_H


nodelet
Author(s): Tully Foote, Radu Bogdan Rusu
autogenerated on Mon Oct 6 2014 02:52:26