resource_resolver.h
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00001 /*
00002  * Copyright (C) 2009, Willow Garage, Inc.
00003  *
00004  * Redistribution and use in source and binary forms, with or without
00005  * modification, are permitted provided that the following conditions are met:
00006  *   * Redistributions of source code must retain the above copyright notice,
00007  *     this list of conditions and the following disclaimer.
00008  *   * Redistributions in binary form must reproduce the above copyright
00009  *     notice, this list of conditions and the following disclaimer in the
00010  *     documentation and/or other materials provided with the distribution.
00011  *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
00012  *     contributors may be used to endorse or promote products derived from
00013  *     this software without specific prior written permission.
00014  *
00015  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025  * POSSIBILITY OF SUCH DAMAGE.
00026  * 
00027  * Code and original copyright copied from the resource_retriever ROS package. 
00028  */
00029 
00030 #ifndef BWI_TOOLS_RESOURCE_RESOLVER_H
00031 #define BWI_TOOLS_RESOURCE_RESOLVER_H
00032 
00033 #include <stdexcept>
00034 
00035 #include <ros/package.h>
00036 
00037 namespace bwi_tools {
00038 
00039   inline std::string resolveRosResource(const std::string &resource_string) {
00040     std::string mod_resource_string = resource_string;
00041     if (resource_string.find("package://") == 0)
00042     {
00043       mod_resource_string.erase(0, strlen("package://"));
00044       size_t pos = mod_resource_string.find("/");
00045       if (pos == std::string::npos) {
00046         throw std::runtime_error("Could not parse package:// format for resource: " + resource_string);
00047       }
00048 
00049       std::string package = mod_resource_string.substr(0, pos);
00050       mod_resource_string.erase(0, pos);
00051       std::string package_path = ros::package::getPath(package);
00052 
00053       if (package_path.empty()) {
00054         throw std::runtime_error("Package [" + package + "] does not exist for resource: " + resource_string);
00055       }
00056 
00057       mod_resource_string = package_path + mod_resource_string;
00058     }
00059 
00060     return mod_resource_string;
00061   }
00062 
00063 } /* bwi_tools */
00064 
00065 
00066 #endif /* end of include guard: BWI_TOOLS_RESOURCE_RESOLVER_H */


bwi_tools
Author(s): Piyush Khandelwal
autogenerated on Fri Aug 28 2015 10:14:30