list.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <pluginlib/class_loader.h>
00038 #include <moveit/planning_request_adapter/planning_request_adapter.h>
00039 #include <ros/ros.h>
00040 
00041 int main(int argc, char **argv)
00042 {
00043   ros::init(argc, argv, "list_planning_adapter_plugins");
00044 
00045   boost::scoped_ptr<pluginlib::ClassLoader<planning_request_adapter::PlanningRequestAdapter> > loader;
00046   try
00047   {
00048     loader.reset(new pluginlib::ClassLoader<planning_request_adapter::PlanningRequestAdapter>("moveit_core", "planning_request_adapter::PlanningRequestAdapter"));
00049   }
00050   catch(pluginlib::PluginlibException& ex)
00051   {
00052     std::cout << "Exception while creating class loader " << ex.what() << std::endl;
00053   }
00054 
00055   const std::vector<std::string> &classes = loader->getDeclaredClasses();
00056   std::cout << "Available planning request adapter plugins:" << std::endl;
00057   for (std::size_t i = 0 ; i < classes.size() ; ++i)
00058   {
00059     std::cout << " \t " << classes[i] << std::endl;
00060     planning_request_adapter::PlanningRequestAdapterConstPtr ad;
00061     try
00062     {
00063       ad.reset(loader->createUnmanagedInstance(classes[i]));
00064     }
00065     catch (pluginlib::PluginlibException& ex)
00066     {
00067       std::cout << " \t\t  Exception while planning adapter plugin '" << classes[i] << "': " << ex.what() << std::endl;
00068     }
00069     if (ad)
00070       std::cout << " \t\t  " << ad->getDescription() << std::endl;
00071     std::cout << std::endl << std::endl;
00072   }
00073 
00074   return 0;
00075 }


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Wed Aug 26 2015 12:43:30