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00029 #ifndef PLUGINLIB_FACTORY_H
00030 #define PLUGINLIB_FACTORY_H
00031
00032 #include <QString>
00033 #include <QList>
00034
00035 #include <string>
00036 #include <vector>
00037
00038 #include <pluginlib/class_loader.h>
00039
00040 #include "rviz/class_id_recording_factory.h"
00041
00042 namespace rviz
00043 {
00044
00045 template<class Type>
00046 class PluginlibFactory: public ClassIdRecordingFactory<Type>
00047 {
00048 public:
00049 PluginlibFactory( const QString& package, const QString& base_class_type )
00050 {
00051 class_loader_ = new pluginlib::ClassLoader<Type>( package.toStdString(), base_class_type.toStdString() );
00052 }
00053 virtual ~PluginlibFactory()
00054 {
00055 delete class_loader_;
00056 }
00057
00058 virtual QList<QString> getDeclaredClassIds()
00059 {
00060 QList<QString> ids;
00061 std::vector<std::string> std_ids = class_loader_->getDeclaredClasses();
00062 for( size_t i = 0; i < std_ids.size(); i++ )
00063 {
00064 ids.push_back( QString::fromStdString( std_ids[ i ]));
00065 }
00066 return ids;
00067 }
00068
00069 virtual QString getClassDescription( const QString& class_id ) const
00070 {
00071 return QString::fromStdString( class_loader_->getClassDescription( class_id.toStdString() ));
00072 }
00073
00074 virtual QString getClassName( const QString& class_id ) const
00075 {
00076 return QString::fromStdString( class_loader_->getName( class_id.toStdString() ));
00077 }
00078
00079 virtual QString getClassPackage( const QString& class_id ) const
00080 {
00081 return QString::fromStdString( class_loader_->getClassPackage( class_id.toStdString() ));
00082 }
00083
00084 protected:
00096 virtual Type* makeRaw( const QString& class_id, QString* error_return = NULL )
00097 {
00098 try
00099 {
00100 return class_loader_->createUnmanagedInstance( class_id.toStdString() );
00101 }
00102 catch( pluginlib::PluginlibException& ex )
00103 {
00104 ROS_ERROR( "PluginlibFactory: The plugin for class '%s' failed to load. Error: %s",
00105 qPrintable( class_id ), ex.what() );
00106 if( error_return )
00107 {
00108 *error_return = QString::fromStdString( ex.what() );
00109 }
00110 return NULL;
00111 }
00112 }
00113
00114 private:
00115 pluginlib::ClassLoader<Type>* class_loader_;
00116 };
00117
00118 }
00119
00120 #endif // PLUGINLIB_FACTORY_H