/usr/include/nodelet/loader.h is in libnodeletlib-dev 1.9.8-1build3.
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* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* 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.
* * Neither the name of the Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* 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 OWNER 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.
*/
/**
@mainpage
\author Tully Foote
**/
#ifndef NODELET_LOADER_H
#define NODELET_LOADER_H
#include <map>
#include <vector>
#include <boost/function.hpp>
#include <boost/scoped_ptr.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/thread/mutex.hpp>
namespace ros
{
class NodeHandle;
}
namespace nodelet
{
class Nodelet;
typedef std::map<std::string, std::string> M_string;
typedef std::vector<std::string> V_string;
/** \brief A class which will construct and sequentially call Nodelets according to xml
* This is the primary way in which users are expected to interact with Nodelets
*/
class Loader
{
public:
/** \brief Construct the nodelet loader with optional ros API at default location of NodeHandle("~")*/
Loader(bool provide_ros_api = true);
/** \brief Construct the nodelet loader with optional ros API in namespace of passed NodeHandle */
Loader(const ros::NodeHandle& server_nh);
/**
* \brief Construct the nodelet loader without ros API, using non-standard factory function to
* create nodelet instances
*/
Loader(const boost::function<boost::shared_ptr<Nodelet> (const std::string& lookup_name)>& create_instance);
~Loader();
/** \brief Load a nodelet */
bool load(const std::string& name, const std::string& type, const M_string& remappings,
const V_string& my_argv);
/** \brief Unload a nodelet */
bool unload(const std::string& name);
/** \brief Clear all nodelets from this loader */
bool clear();
/**\brief List the names of all loaded nodelets */
std::vector<std::string> listLoadedNodelets();
private:
boost::mutex lock_; ///<! Public methods must lock this to preserve internal integrity.
struct Impl;
boost::scoped_ptr<Impl> impl_;
};
} // namespace nodelet
#endif //#ifndef NODELET_LOADER_H
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