#include <contact_managers_plugin_factory.h>

Public Member Functions
void	addContinuousContactManagerPlugin (const std::string &name, tesseract_common::PluginInfo plugin_info)
	Add a continuous contact manager plugin. More...

void	addDiscreteContactManagerPlugin (const std::string &name, tesseract_common::PluginInfo plugin_info)
	Add a discrete contact manager plugin. More...

void	addSearchLibrary (const std::string &library_name)
	Add a library to search for plugin name. More...

void	addSearchPath (const std::string &path)
	Add location for the plugin loader to search. More...

void	clearSearchLibraries ()
	Clean the search libraries. More...

void	clearSearchPaths ()
	Clear the search paths. More...

	ContactManagersPluginFactory ()

	ContactManagersPluginFactory (const ContactManagersPluginFactory &)=default

	ContactManagersPluginFactory (const std::filesystem::path &config, const tesseract_common::ResourceLocator &locator)
	Load plugins from file path. More...

	ContactManagersPluginFactory (const std::string &config, const tesseract_common::ResourceLocator &locator)
	Load plugins from string. More...

	ContactManagersPluginFactory (ContactManagersPluginFactory &&)=default

	ContactManagersPluginFactory (YAML::Node config, const tesseract_common::ResourceLocator &locator)
	Load plugins from yaml node. More...

std::unique_ptr< ContinuousContactManager >	createContinuousContactManager (const std::string &name) const
	Get continuous contact manager object given name. More...

std::unique_ptr< ContinuousContactManager >	createContinuousContactManager (const std::string &name, const tesseract_common::PluginInfo &plugin_info) const
	Get continuous contact manager object given plugin info. More...

std::unique_ptr< DiscreteContactManager >	createDiscreteContactManager (const std::string &name) const
	Get discrete contact manager object given name. More...

std::unique_ptr< DiscreteContactManager >	createDiscreteContactManager (const std::string &name, const tesseract_common::PluginInfo &plugin_info) const
	Get discrete contact manager object given plugin info. More...

YAML::Node	getConfig () const
	Get the plugin information config as a yaml node. More...

tesseract_common::PluginInfoMap	getContinuousContactManagerPlugins () const
	Get the map of continuous contact manager plugin. More...

std::string	getDefaultContinuousContactManagerPlugin () const
	Get the default continuous contact manager. More...

std::string	getDefaultDiscreteContactManagerPlugin () const
	Get the default discrete contact manager. More...

tesseract_common::PluginInfoMap	getDiscreteContactManagerPlugins () const
	Get the map of discrete contact manager plugin. More...

std::set< std::string >	getSearchLibraries () const
	Get the plugin search libraries. More...

std::set< std::string >	getSearchPaths () const
	Get the plugin search paths. More...

bool	hasContinuousContactManagerPlugins () const
	Check if it has continuous contact manager plugins. More...

bool	hasDiscreteContactManagerPlugins () const
	Check if it has discrete contact manager plugins. More...

ContactManagersPluginFactory &	operator= (const ContactManagersPluginFactory &)=default

ContactManagersPluginFactory &	operator= (ContactManagersPluginFactory &&)=default

void	removeContinuousContactManagerPlugin (const std::string &name)
	Remove continuous contact manager plugin. More...

void	removeDiscreteContactManagerPlugin (const std::string &name)
	Remove discrete contact manager plugin. More...

void	saveConfig (const std::filesystem::path &file_path) const
	Save the plugin information to a yaml config file. More...

void	setDefaultContinuousContactManagerPlugin (const std::string &name)
	Set a default continuous contact manager. More...

void	setDefaultDiscreteContactManagerPlugin (const std::string &name)
	Set a default discrete contact manager. More...

	~ContactManagersPluginFactory ()

Private Member Functions
void	loadConfig (const YAML::Node &config)

Private Attributes
std::map< std::string, ContinuousContactManagerFactory::Ptr >	continuous_factories_

tesseract_common::PluginInfoContainer	continuous_plugin_info_

std::map< std::string, DiscreteContactManagerFactory::Ptr >	discrete_factories_

tesseract_common::PluginInfoContainer	discrete_plugin_info_

boost_plugin_loader::PluginLoader	plugin_loader_

Detailed Description

Definition at line 100 of file contact_managers_plugin_factory.h.

Constructor & Destructor Documentation

◆ ContactManagersPluginFactory() [1/6]

tesseract_collision::ContactManagersPluginFactory::ContactManagersPluginFactory ( )

Definition at line 53 of file contact_managers_plugin_factory.cpp.

◆ ~ContactManagersPluginFactory()

tesseract_collision::ContactManagersPluginFactory::~ContactManagersPluginFactory ( )

default

◆ ContactManagersPluginFactory() [2/6]

tesseract_collision::ContactManagersPluginFactory::ContactManagersPluginFactory ( const ContactManagersPluginFactory & )

default

◆ ContactManagersPluginFactory() [3/6]

tesseract_collision::ContactManagersPluginFactory::ContactManagersPluginFactory ( ContactManagersPluginFactory && )

default

◆ ContactManagersPluginFactory() [4/6]

tesseract_collision::ContactManagersPluginFactory::ContactManagersPluginFactory	(	YAML::Node	config,
		const tesseract_common::ResourceLocator &	locator
	)

Load plugins from yaml node.

Parameters

config The config node

Definition at line 77 of file contact_managers_plugin_factory.cpp.

◆ ContactManagersPluginFactory() [5/6]

tesseract_collision::ContactManagersPluginFactory::ContactManagersPluginFactory	(	const std::filesystem::path &	config,
		const tesseract_common::ResourceLocator &	locator
	)

Load plugins from file path.

Parameters

config The config file path

Definition at line 85 of file contact_managers_plugin_factory.cpp.

◆ ContactManagersPluginFactory() [6/6]

tesseract_collision::ContactManagersPluginFactory::ContactManagersPluginFactory	(	const std::string &	config,
		const tesseract_common::ResourceLocator &	locator
	)

Load plugins from string.

Parameters

config The config string

Definition at line 92 of file contact_managers_plugin_factory.cpp.

Member Function Documentation

◆ addContinuousContactManagerPlugin()

void tesseract_collision::ContactManagersPluginFactory::addContinuousContactManagerPlugin	(	const std::string &	name,
		tesseract_common::PluginInfo	plugin_info
	)

Add a continuous contact manager plugin.

Parameters

name	The name
plugin_info	The plugin information

Definition at line 172 of file contact_managers_plugin_factory.cpp.

◆ addDiscreteContactManagerPlugin()

void tesseract_collision::ContactManagersPluginFactory::addDiscreteContactManagerPlugin	(	const std::string &	name,
		tesseract_common::PluginInfo	plugin_info
	)

Add a discrete contact manager plugin.

Parameters

name	The name
plugin_info	The plugin information

Definition at line 121 of file contact_managers_plugin_factory.cpp.

◆ addSearchLibrary()

void tesseract_collision::ContactManagersPluginFactory::addSearchLibrary ( const std::string & library_name )

Add a library to search for plugin name.

Parameters

library_name The library name without the prefix or suffix

Definition at line 109 of file contact_managers_plugin_factory.cpp.

◆ addSearchPath()

void tesseract_collision::ContactManagersPluginFactory::addSearchPath ( const std::string & path )

Add location for the plugin loader to search.

Parameters

path	The full path to the directory

Definition at line 103 of file contact_managers_plugin_factory.cpp.

◆ clearSearchLibraries()

void tesseract_collision::ContactManagersPluginFactory::clearSearchLibraries ( )

Clean the search libraries.

Definition at line 119 of file contact_managers_plugin_factory.cpp.

◆ clearSearchPaths()

void tesseract_collision::ContactManagersPluginFactory::clearSearchPaths ( )

Clear the search paths.

Definition at line 107 of file contact_managers_plugin_factory.cpp.

◆ createContinuousContactManager() [1/2]

std::unique_ptr< ContinuousContactManager > tesseract_collision::ContactManagersPluginFactory::createContinuousContactManager ( const std::string & name ) const

Get continuous contact manager object given name.

This looks for continuous contact manager plugin info. If not found nullptr is returned.

Parameters

name The name

Definition at line 267 of file contact_managers_plugin_factory.cpp.

◆ createContinuousContactManager() [2/2]

std::unique_ptr< ContinuousContactManager > tesseract_collision::ContactManagersPluginFactory::createContinuousContactManager	(	const std::string &	name,
		const tesseract_common::PluginInfo &	plugin_info
	)		const

Get continuous contact manager object given plugin info.

Parameters

name	The name
plugin_info	The plugin information to create kinematics object

Definition at line 282 of file contact_managers_plugin_factory.cpp.

◆ createDiscreteContactManager() [1/2]

std::unique_ptr< DiscreteContactManager > tesseract_collision::ContactManagersPluginFactory::createDiscreteContactManager ( const std::string & name ) const

Get discrete contact manager object given name.

This looks for discrete contact manager plugin info. If not found nullptr is returned.

Parameters

name The name

Definition at line 224 of file contact_managers_plugin_factory.cpp.

◆ createDiscreteContactManager() [2/2]

std::unique_ptr< DiscreteContactManager > tesseract_collision::ContactManagersPluginFactory::createDiscreteContactManager	(	const std::string &	name,
		const tesseract_common::PluginInfo &	plugin_info
	)		const

Get discrete contact manager object given plugin info.

Parameters

name	The name
plugin_info	The plugin information to create kinematics object

Definition at line 239 of file contact_managers_plugin_factory.cpp.

◆ getConfig()

YAML::Node tesseract_collision::ContactManagersPluginFactory::getConfig ( ) const

Get the plugin information config as a yaml node.

Returns: The plugin information config yaml node/

Definition at line 316 of file contact_managers_plugin_factory.cpp.

◆ getContinuousContactManagerPlugins()

tesseract_common::PluginInfoMap tesseract_collision::ContactManagersPluginFactory::getContinuousContactManagerPlugins ( ) const

Get the map of continuous contact manager plugin.

Returns: A map of plugins

Definition at line 183 of file contact_managers_plugin_factory.cpp.

◆ getDefaultContinuousContactManagerPlugin()

std::string tesseract_collision::ContactManagersPluginFactory::getDefaultContinuousContactManagerPlugin ( ) const

Get the default continuous contact manager.

Returns: The default continuous contact manager name

Definition at line 211 of file contact_managers_plugin_factory.cpp.

◆ getDefaultDiscreteContactManagerPlugin()

std::string tesseract_collision::ContactManagersPluginFactory::getDefaultDiscreteContactManagerPlugin ( ) const

Get the default discrete contact manager.

Returns: The default discrete contact manager

Definition at line 160 of file contact_managers_plugin_factory.cpp.

◆ getDiscreteContactManagerPlugins()

tesseract_common::PluginInfoMap tesseract_collision::ContactManagersPluginFactory::getDiscreteContactManagerPlugins ( ) const

Get the map of discrete contact manager plugin.

Returns: A map of plugins

Definition at line 132 of file contact_managers_plugin_factory.cpp.

◆ getSearchLibraries()

std::set< std::string > tesseract_collision::ContactManagersPluginFactory::getSearchLibraries ( ) const

Get the plugin search libraries.

Returns: The search libraries

Definition at line 114 of file contact_managers_plugin_factory.cpp.

◆ getSearchPaths()

std::set< std::string > tesseract_collision::ContactManagersPluginFactory::getSearchPaths ( ) const

Get the plugin search paths.

Returns: The search paths

Definition at line 105 of file contact_managers_plugin_factory.cpp.

◆ hasContinuousContactManagerPlugins()

bool tesseract_collision::ContactManagersPluginFactory::hasContinuousContactManagerPlugins ( ) const

Check if it has continuous contact manager plugins.

Returns: True if continuous PluginInfoMap is not empty, otherwise fale

Definition at line 178 of file contact_managers_plugin_factory.cpp.

◆ hasDiscreteContactManagerPlugins()

bool tesseract_collision::ContactManagersPluginFactory::hasDiscreteContactManagerPlugins ( ) const

Check if it has discrete contact manager plugins.

Returns: True if discrete PluginInfoMap is not empty, otherwise fale

Definition at line 127 of file contact_managers_plugin_factory.cpp.

◆ loadConfig()

void tesseract_collision::ContactManagersPluginFactory::loadConfig ( const YAML::Node & config )

private

Definition at line 64 of file contact_managers_plugin_factory.cpp.

◆ operator=() [1/2]

ContactManagersPluginFactory& tesseract_collision::ContactManagersPluginFactory::operator= ( const ContactManagersPluginFactory & )

default

◆ operator=() [2/2]

ContactManagersPluginFactory& tesseract_collision::ContactManagersPluginFactory::operator= ( ContactManagersPluginFactory && )

default

◆ removeContinuousContactManagerPlugin()

void tesseract_collision::ContactManagersPluginFactory::removeContinuousContactManagerPlugin ( const std::string & name )

Remove continuous contact manager plugin.

Parameters

name	The name of the contact manager to remove

Definition at line 188 of file contact_managers_plugin_factory.cpp.

◆ removeDiscreteContactManagerPlugin()

void tesseract_collision::ContactManagersPluginFactory::removeDiscreteContactManagerPlugin ( const std::string & name )

Remove discrete contact manager plugin.

Parameters

name	The name of the contact manager to remove

Definition at line 137 of file contact_managers_plugin_factory.cpp.

◆ saveConfig()

void tesseract_collision::ContactManagersPluginFactory::saveConfig ( const std::filesystem::path & file_path ) const

Save the plugin information to a yaml config file.

Parameters

file_path The file path

Definition at line 309 of file contact_managers_plugin_factory.cpp.

◆ setDefaultContinuousContactManagerPlugin()

void tesseract_collision::ContactManagersPluginFactory::setDefaultContinuousContactManagerPlugin ( const std::string & name )

Set a default continuous contact manager.

Parameters

name The name

Definition at line 201 of file contact_managers_plugin_factory.cpp.

◆ setDefaultDiscreteContactManagerPlugin()

void tesseract_collision::ContactManagersPluginFactory::setDefaultDiscreteContactManagerPlugin ( const std::string & name )

Set a default discrete contact manager.

Parameters

name The name

Definition at line 150 of file contact_managers_plugin_factory.cpp.

Member Data Documentation

◆ continuous_factories_

std::map<std::string, ContinuousContactManagerFactory::Ptr> tesseract_collision::ContactManagersPluginFactory::continuous_factories_

mutableprivate

Definition at line 282 of file contact_managers_plugin_factory.h.

◆ continuous_plugin_info_

tesseract_common::PluginInfoContainer tesseract_collision::ContactManagersPluginFactory::continuous_plugin_info_

private

Definition at line 284 of file contact_managers_plugin_factory.h.

◆ discrete_factories_

std::map<std::string, DiscreteContactManagerFactory::Ptr> tesseract_collision::ContactManagersPluginFactory::discrete_factories_

mutableprivate

Definition at line 281 of file contact_managers_plugin_factory.h.

◆ discrete_plugin_info_

tesseract_common::PluginInfoContainer tesseract_collision::ContactManagersPluginFactory::discrete_plugin_info_

private

Definition at line 283 of file contact_managers_plugin_factory.h.

◆ plugin_loader_

boost_plugin_loader::PluginLoader tesseract_collision::ContactManagersPluginFactory::plugin_loader_

private

Definition at line 285 of file contact_managers_plugin_factory.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ContactManagersPluginFactory() [1/6]

◆ ~ContactManagersPluginFactory()

◆ ContactManagersPluginFactory() [2/6]

◆ ContactManagersPluginFactory() [3/6]

◆ ContactManagersPluginFactory() [4/6]

◆ ContactManagersPluginFactory() [5/6]

◆ ContactManagersPluginFactory() [6/6]

Member Function Documentation

◆ addContinuousContactManagerPlugin()

◆ addDiscreteContactManagerPlugin()

◆ addSearchLibrary()

◆ addSearchPath()

◆ clearSearchLibraries()

◆ clearSearchPaths()

◆ createContinuousContactManager() [1/2]

◆ createContinuousContactManager() [2/2]

◆ createDiscreteContactManager() [1/2]

◆ createDiscreteContactManager() [2/2]

◆ getConfig()

◆ getContinuousContactManagerPlugins()

◆ getDefaultContinuousContactManagerPlugin()

◆ getDefaultDiscreteContactManagerPlugin()

◆ getDiscreteContactManagerPlugins()

◆ getSearchLibraries()

◆ getSearchPaths()

◆ hasContinuousContactManagerPlugins()

◆ hasDiscreteContactManagerPlugins()

◆ loadConfig()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ removeContinuousContactManagerPlugin()

◆ removeDiscreteContactManagerPlugin()

◆ saveConfig()

◆ setDefaultContinuousContactManagerPlugin()

◆ setDefaultDiscreteContactManagerPlugin()

Member Data Documentation

◆ continuous_factories_

◆ continuous_plugin_info_

◆ discrete_factories_

◆ discrete_plugin_info_

◆ plugin_loader_