Loads an array of plugins. More...
#include <gpp_plugin.hpp>
Inheritance diagram for gpp_plugin::ArrayPluginManager< _Plugin >:
Public Member Functions | |
| void | load (const std::string &_resource, ros::NodeHandle &_nh) |
 Public Member Functions inherited from gpp_plugin::PluginManager< _Plugin > | |
| virtual pluginlib::UniquePtr< _Plugin > | createCustomInstance (const std::string &_type) |
| PluginManager () | |
| Public Member Functions inherited from pluginlib::ClassLoader< _Plugin > | |
| ClassLoader (std::string package, std::string base_class, std::string attrib_name=std::string("plugin"), std::vector< std::string > plugin_xml_paths=std::vector< std::string >()) | |
| T * | createClassInstance (const std::string &lookup_name, bool auto_load=true) |
| boost::shared_ptr< T > | createInstance (const std::string &lookup_name) |
| T * | createUnmanagedInstance (const std::string &lookup_name) |
| virtual std::string | getBaseClassType () const |
| virtual std::string | getClassDescription (const std::string &lookup_name) |
| virtual std::string | getClassLibraryPath (const std::string &lookup_name) |
| virtual std::string | getClassPackage (const std::string &lookup_name) |
| virtual std::string | getClassType (const std::string &lookup_name) |
| std::vector< std::string > | getDeclaredClasses () |
| virtual std::string | getName (const std::string &lookup_name) |
| virtual std::string | getPluginManifestPath (const std::string &lookup_name) |
| std::vector< std::string > | getPluginXmlPaths () |
| virtual std::vector< std::string > | getRegisteredLibraries () |
| virtual bool | isClassAvailable (const std::string &lookup_name) |
| bool | isClassLoaded (const std::string &lookup_name) |
| virtual void | loadLibraryForClass (const std::string &lookup_name) |
| virtual void | refreshDeclaredClasses () |
| virtual int | unloadLibraryForClass (const std::string &lookup_name) |
| ~ClassLoader () | |
| Public Member Functions inherited from pluginlib::ClassLoaderBase | |
| virtual std::string | getBaseClassType () const=0 |
| virtual | ~ClassLoaderBase () |
| Public Member Functions inherited from gpp_plugin::PluginGroup< _Plugin > | |
| const bool & | getDefaultValue () const noexcept |
| const std::string & | getName () const noexcept |
| const PluginMap & | getPlugins () const noexcept |
Additional Inherited Members | |
| Public Types inherited from gpp_plugin::PluginManager< _Plugin > | |
| using | Base = pluginlib::ClassLoader< _Plugin > |
| using | Definition = PluginDefinition< _Plugin > |
| Public Types inherited from pluginlib::ClassLoader< _Plugin > | |
| typedef std::map< std::string, ClassDesc >::iterator | ClassMapIterator |
| Public Types inherited from gpp_plugin::PluginGroup< _Plugin > | |
| using | NamedPlugin = std::pair< PluginParameter, PluginPtr > |
| using | PluginMap = std::vector< NamedPlugin > |
| using | PluginPtr = typename pluginlib::UniquePtr< _Plugin > |
| Protected Attributes inherited from gpp_plugin::PluginGroup< _Plugin > | |
| bool | default_value_ |
| std::string | name_ = "undefined" |
| PluginMap | plugins_ |
Detailed Description
template<typename _Plugin>
struct gpp_plugin::ArrayPluginManager< _Plugin >
Loads an array of plugins.
Usage
The class offers two methods:
- load will try to read the types and names from the parameter server and load the specified plugins.
- getPlugins will return the loaded plugins.
Both methods are not thread-safe. The concurrency management must be done by the user.
Code example:
// you will need a note-handle
ros::NodeHandle nh("~");
// create the manager
ArrayPluginManager<MyPlugin> manager;
// load the plugins
try{
// will throw if "my_resource_tag" does not specify an array
manager.load("my_resource_tag", nh);
}
catch(std::invalid_argument& ex){
std::cerr << "failed to load " << ex.what() << std::endl;
return;
}
// get the plugins and init them as you like
const auto& plugins = manager.getPlugins();
...
Parameters
The ros-parameter resource defined under the _resource argument (see load-method) must be an array. The array resquires two tags - 'name' and 'type'. 'name' defines a unique descriptor which will be passed to a plugin. 'type' defines the type of the plugin. Both tags must have literal values. Additionally it may contain boolean 'on_failure_break' (defaults to true) and 'on_success_break' (defaults to false) tags. See PluginParameter for details.
Code example:
my_resource_tag:
- {name: foo, type: a_valid_type}
- {name: baz, type: another_type, on_failure_break: false, on_success_break:
true}
Remarks
We don't need an explicit destructor here, since the destructors are called in reverse order of the construction: so the ManagerInterface is always destructed first.
- Template Parameters
-
_Plugin as in PluginManager<_Plugin>
Definition at line 297 of file gpp_plugin.hpp.
Member Function Documentation
◆ load()
template<typename _Plugin >
| void gpp_plugin::ArrayPluginManager< _Plugin >::load | ( | const std::string & | _resource, |
| ros::NodeHandle & | _nh | ||
| ) |
Definition at line 84 of file gpp_plugin.cpp.
The documentation for this struct was generated from the following files: