class_list_macros.h
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00001 // *****************************************************************************
00002 //
00003 // Copyright (c) 2016, Southwest Research Institute® (SwRI®)
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00012 //       documentation and/or other materials provided with the distribution.
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00029 
00030 #ifndef SWRI_NODELET_CLASS_LIST_MACROS_H_
00031 #define SWRI_NODELET_CLASS_LIST_MACROS_H_
00032 
00033 #include <boost/make_shared.hpp>
00034 #include <pluginlib/class_list_macros.h>
00035 
00036 /*
00037  Macro to define a nodelet with a factory function, so that it can be used in
00038  boilerplate wrapper nodes that do not rely on dynamic class loading.
00039  
00040  The macro calls PLUGINLIB_EXPORT_CLASS with plugin type nodelet::Nodelet and
00041  creates a factory function NS::createCLASS() that returns a 
00042  boost::shared_ptr<nodelet::Nodelet> to NS::CLASS
00043  
00044  @param NS The namespace of the class to be used for the nodelet
00045  @param CLASS The classname of the class to be used for the nodelet
00046 */
00047 #define SWRI_NODELET_EXPORT_CLASS(NS, CLASS) PLUGINLIB_EXPORT_CLASS(NS::CLASS, nodelet::Nodelet);\
00048 namespace NS\
00049 {\
00050   boost::shared_ptr<nodelet::Nodelet> create ## CLASS()\
00051   {\
00052     return boost::make_shared<CLASS>();\
00053   }\
00054 }
00055 
00056 #endif  // SWRI_NODELET_CLASS_LIST_MACROS_H_
00057 


swri_nodelet
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autogenerated on Tue Oct 3 2017 03:19:22