/usr/include/kido/utils/PackageResourceRetriever.hpp is in libkido-utils-dev 0.1.0+dfsg-2build9.
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* Copyright (c) 2015, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Michael Koval <mkoval@cs.cmu.edu>
*
* Georgia Tech Graphics Lab and Humanoid Robotics Lab
*
* Directed by Prof. C. Karen Liu and Prof. Mike Stilman
* <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef KIDO_UTILS_PACKAGERESOURCERETRIEVER_HPP_
#define KIDO_UTILS_PACKAGERESOURCERETRIEVER_HPP_
#include <unordered_map>
#include <vector>
#include "kido/common/ResourceRetriever.hpp"
namespace kido {
namespace utils {
/// Retrieve local resources specified by package:// URIs by: (1) resolving
/// the package path and (2) passing the resolved URI to another
/// \ref ResourceRetriever. This class uses requires you to manually provide the
/// base URI of every package that you wish to resolve using the
/// \ref addPackageDirectory method.
class PackageResourceRetriever : public virtual common::ResourceRetriever
{
public:
/// Construct a PackageResourceRetriever that uses the specified \a
/// _localRetriever to load resolved URIs.
explicit PackageResourceRetriever(
const common::ResourceRetrieverPtr& _localRetriever = nullptr);
virtual ~PackageResourceRetriever() = default;
/// Specify the directory of a ROS package. In your URDF files, you may see
/// strings with a package URI pattern such as:
///
/// @code
/// "package://my_robot/meshes/mesh_for_my_robot.stl"
/// \______/ \______/\___________________________/
/// | | |
/// package package file path with respect to
/// keyword name the package directory
/// @endcode
///
/// For us to successfully parse a URDF, we need to be told what the path
/// to the package directory is, using addPackageDirectory(). In this case,
/// suppose the path to the my_robot package is /path/to/my_robot. Then you
/// should use addPackageDirectory("my_robot", "/path/to/my_robot").
/// Altogether, this implies that a file named
/// "/path/to/my_robot/meshes/mesh_for_my_robot.stl" exists. Whatever you
/// specify as the package directory will end up replacing the 'package
/// keyword' and 'package name' components of the URI string.
///
/// You can call this method multiple times with the same \a _packageName to
/// provide multiple candidates for resolution. This is necessarry if your
/// resources are split between the Catkin devel and source spaces. Multiple
/// candidates will be tested in the same order in which they were added.
///
/// This class supports arbitrary URIs for \a _packageDirectory, as long as
/// they are supported by the \a _localRetriever passed to the constructor.
void addPackageDirectory(const std::string& _packageName,
const std::string& _packageDirectory);
// Documentation inherited.
bool exists(const common::Uri& _uri) override;
// Documentation inherited.
common::ResourcePtr retrieve(const common::Uri& _uri) override;
private:
common::ResourceRetrieverPtr mLocalRetriever;
std::unordered_map<std::string, std::vector<std::string> > mPackageMap;
const std::vector<std::string>& getPackagePaths(
const std::string& _packageName) const;
bool resolvePackageUri(const common::Uri& _uri,
std::string& _packageName, std::string& _relativePath) const;
};
using PackageResourceRetrieverPtr = std::shared_ptr<PackageResourceRetriever>;
} // namespace utils
} // namespace kido
#endif // ifndef KIDO_UTILS_PACKAGERESOURCERETRIEVER_HPP_
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