moveit2
The MoveIt Motion Planning Framework for ROS 2.
collision_plugin_cache.cpp
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34 
36 #include <pluginlib/class_loader.hpp>
37 #include <rclcpp/logger.hpp>
38 #include <rclcpp/logging.hpp>
39 #include <memory>
40 #include <moveit/utils/logger.hpp>
41 
42 namespace collision_detection
43 {
44 namespace
45 {
46 rclcpp::Logger getLogger()
47 {
48  return moveit::getLogger("collision_detection_plugin_cache");
49 }
50 } // namespace
51 
53 {
54 public:
56  {
57  try
58  {
59  cache_ = std::make_shared<pluginlib::ClassLoader<CollisionPlugin>>("moveit_core",
60  "collision_detection::CollisionPlugin");
61  }
62  catch (pluginlib::PluginlibException& e)
63  {
64  RCLCPP_ERROR(getLogger(), "Unable to construct collision plugin loader. Error: %s", e.what());
65  }
66  }
67 
68  CollisionPluginPtr load(const std::string& name)
69  {
70  CollisionPluginPtr plugin;
71  try
72  {
73  plugin = cache_->createUniqueInstance(name);
74  plugins_[name] = plugin;
75  }
76  catch (pluginlib::PluginlibException& ex)
77  {
78  RCLCPP_ERROR_STREAM(getLogger(), "Exception while loading " << name << ": " << ex.what());
79  }
80  return plugin;
81  }
82 
83  bool activate(const std::string& name, const planning_scene::PlanningScenePtr& scene)
84  {
85  std::map<std::string, CollisionPluginPtr>::iterator it = plugins_.find(name);
86  if (it == plugins_.end())
87  {
88  const CollisionPluginPtr plugin = load(name);
89  if (plugin)
90  {
91  return plugin->initialize(scene);
92  }
93  return false;
94  }
95  if (it->second)
96  {
97  return it->second->initialize(scene);
98  }
99  return false;
100  }
101 
102 private:
103  std::shared_ptr<pluginlib::ClassLoader<CollisionPlugin>> cache_;
104  std::map<std::string, CollisionPluginPtr> plugins_;
105 };
106 
108 {
109  cache_ = std::make_shared<CollisionPluginCacheImpl>();
110 }
111 
113 
114 bool CollisionPluginCache::activate(const std::string& name, const planning_scene::PlanningScenePtr& scene)
115 {
116  return cache_->activate(name, scene);
117 }
118 
119 } // namespace collision_detection
bool activate(const std::string &name, const planning_scene::PlanningScenePtr &scene)
bool activate(const std::string &name, const planning_scene::PlanningScenePtr &scene)
Activate a specific collision plugin for the given planning scene instance.
rclcpp::Logger getLogger(const std::string &name)
Creates a namespaced logger.
Definition: logger.cpp:79
name
Definition: setup.py:7