plugin_io.cpp

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/* Author: Zachary Kingston */
 
#include <moveit/planning_request_adapter/planning_request_adapter.h>
 
#include <robowflex_library/io/plugin.h>
#include <robowflex_library/util.h>
 
using namespace robowflex;
 
/* \file plugin_io.cpp
 * Demonstrates how to use the plugin loader helper class to load some MoveIt
 * plugins.
 */
 
int main(int argc, char **argv)
{
    ROS ros(argc, argv);
 
    auto plugin1 = IO::PluginManager::load<planning_request_adapter::PlanningRequestAdapter>(  //
        "moveit_core", "default_planner_request_adapters/AddTimeParameterization");
 
    auto plugin2 = IO::PluginManager::load<planning_request_adapter::PlanningRequestAdapter>(  //
        "moveit_core", "default_planner_request_adapters/FixStartStateBounds");
 
    auto plugin3 = IO::PluginManager::load<planning_request_adapter::PlanningRequestAdapter>(  //
        "moveit_core", "default_planner_request_adapters/FixStartStateCollision");
 
    return 0;
}