robowflex::Scene::CollisionPluginLoader Class Reference

The actual plugin loader for collision plugins. Heavily inspired by code in moveit_ros/planning. More...

Public Member Functions
	CollisionPluginLoader ()
	Constructor. Attempts to create the pluginlib loader for collision plugins. More...
collision_detection::CollisionPluginPtr	load (const std::string &name)
	Attempts to load the collision detector plugin by the given name. Saves the plugin in an internal map and returns it if found. More...
bool	activate (const std::string &name, const planning_scene::PlanningScenePtr &scene, bool exclusive)
	Loads a collision detector into a planning scene instance. More...

Private Types
using	PluginLoader = pluginlib::ClassLoader< collision_detection::CollisionPlugin >
	The pluginlib loader for collision detection plugins. More...

Private Attributes
std::shared_ptr< PluginLoader >	loader_
std::map< std::string, collision_detection::CollisionPluginPtr >	plugins_
	Loaded plugins. More...

Detailed Description

The actual plugin loader for collision plugins. Heavily inspired by code in moveit_ros/planning.

Definition at line 28 of file scene.cpp.

Member Typedef Documentation

PluginLoader

using robowflex::Scene::CollisionPluginLoader::PluginLoader = pluginlib::ClassLoader<collision_detection::CollisionPlugin>

private

The pluginlib loader for collision detection plugins.

Definition at line 32 of file scene.cpp.

Constructor & Destructor Documentation

CollisionPluginLoader()

robowflex::Scene::CollisionPluginLoader::CollisionPluginLoader ( )

inline

Constructor. Attempts to create the pluginlib loader for collision plugins.

Definition at line 37 of file scene.cpp.

        {
            try
            {
                loader_.reset(new PluginLoader("moveit_core", "collision_detection::CollisionPlugin"));
            }
            catch (pluginlib::PluginlibException &e)
            {
                RBX_ERROR("Unable to construct collision plugin loader. Error: %s", e.what());
            }
        }

Member Function Documentation

activate()

bool robowflex::Scene::CollisionPluginLoader::activate ( const std::string &  name, const planning_scene::PlanningScenePtr &  scene, bool  exclusive  )

inline

Loads a collision detector into a planning scene instance.

Parameters

[in]	name	the plugin name
[in]	scene	the planning scene instance.
[in]	exclusive	If true, the new collision detector is the only one.

Returns

True if the new collision detector is added to the scene.

Definition at line 77 of file scene.cpp.

        {
            auto it = plugins_.find(name);
            if (it == plugins_.end())
            {
                collision_detection::CollisionPluginPtr plugin = load(name);
                if (plugin)
                    return plugin->initialize(scene, exclusive);
            }
            else if (it->second)
                return it->second->initialize(scene, exclusive);
 
            return false;
        }

load()

collision_detection::CollisionPluginPtr robowflex::Scene::CollisionPluginLoader::load ( const std::string &  name )

inline

Attempts to load the collision detector plugin by the given name. Saves the plugin in an internal map and returns it if found.

Parameters

[in]

name

Name of the plugin to load.

Returns

An allocated collision plugin.

Definition at line 54 of file scene.cpp.

        {
            collision_detection::CollisionPluginPtr plugin;
 
            try
            {
                plugin.reset(loader_->createUnmanagedInstance(name));
                plugins_[name] = plugin;
            }
            catch (pluginlib::PluginlibException &ex)
            {
                RBX_ERROR("Exception while loading %s: %s", name, ex.what());
            }
 
            return plugin;
        }

Member Data Documentation

loader_

std::shared_ptr<PluginLoader> robowflex::Scene::CollisionPluginLoader::loader_

private

Definition at line 93 of file scene.cpp.

plugins_

std::map<std::string, collision_detection::CollisionPluginPtr> robowflex::Scene::CollisionPluginLoader::plugins_

private

Loaded plugins.

Definition at line 94 of file scene.cpp.

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

• scene.cpp