.. _program_listing_file_include_pluginlib_class_loader.hpp:

Program Listing for File class_loader.hpp
=========================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_pluginlib_class_loader.hpp>` (``include/pluginlib/class_loader.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2009, 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 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 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 PLUGINLIB__CLASS_LOADER_HPP_
   #define PLUGINLIB__CLASS_LOADER_HPP_
   
   #include <map>
   #include <memory>
   #include <string>
   #include <vector>
   
   #include "class_loader/multi_library_class_loader.hpp"
   #include "pluginlib/class_desc.hpp"
   #include "pluginlib/class_loader_base.hpp"
   #include "pluginlib/exceptions.hpp"
   #include "tinyxml2.h"  // NOLINT
   
   namespace pluginlib
   {
   
   template<typename T>
   using UniquePtr = class_loader::ClassLoader::UniquePtr<T>;
   
   template<class T>
   class ClassLoader : public ClassLoaderBase
   {
   public:
     typedef typename std::map<std::string, ClassDesc>::iterator ClassMapIterator;
   
   public:
     ClassLoader(
       std::string package,
       std::string base_class,
       std::string attrib_name = std::string("plugin"),
       std::vector<std::string> plugin_xml_paths = std::vector<std::string>());
   
     ~ClassLoader();
   
   
     std::shared_ptr<T> createSharedInstance(const std::string & lookup_name);
   
   
     UniquePtr<T> createUniqueInstance(const std::string & lookup_name);
   
   
     T * createUnmanagedInstance(const std::string & lookup_name);
   
   
     std::vector<std::string> getPluginXmlPaths();
   
   
     std::vector<std::string> getDeclaredClasses();
   
   
     virtual std::string getName(const std::string & lookup_name);
   
   
     virtual std::string getBaseClassType() const;
   
   
     virtual std::string getClassType(const std::string & lookup_name);
   
   
     virtual std::string getClassDescription(const std::string & lookup_name);
   
   
     virtual std::string getClassLibraryPath(const std::string & lookup_name);
   
   
     virtual std::string getClassPackage(const std::string & lookup_name);
   
   
     virtual std::string getPluginManifestPath(const std::string & lookup_name);
   
   
     virtual std::vector<std::string> getRegisteredLibraries();
   
   
     bool isClassLoaded(const std::string & lookup_name);
   
   
     virtual bool isClassAvailable(const std::string & lookup_name);
   
   
     virtual void loadLibraryForClass(const std::string & lookup_name);
   
   
     virtual void refreshDeclaredClasses();
   
   
     virtual int unloadLibraryForClass(const std::string & lookup_name);
   
   private:
   
     std::vector<std::string> getPluginXmlPaths(
       const std::string & package,
       const std::string & attrib_name);
   
   
     std::map<std::string, ClassDesc> determineAvailableClasses(
       const std::vector<std::string> & plugin_xml_paths);
   
   
     std::string extractPackageNameFromPackageXML(const std::string & package_xml_path);
   
   
     std::vector<std::string> getAllLibraryPathsToTry(
       const std::string & library_name,
       const std::string & exporting_package_name);
   
   
     std::string getErrorStringForUnknownClass(const std::string & lookup_name);
   
     std::string getPathSeparator();
   
     std::string getPackageFromPluginXMLFilePath(const std::string & path);
   
     std::string joinPaths(const std::string & path1, const std::string & path2);
   
   
     void processSingleXMLPluginFile(
       const std::string & xml_file, std::map<std::string,
       ClassDesc> & class_available);
   
   
     std::string stripAllButFileFromPath(const std::string & path);
   
   
   
     int unloadClassLibraryInternal(const std::string & library_path);
   
   private:
     std::vector<std::string> plugin_xml_paths_;
     // Map from library to class's descriptions described in XML.
     std::map<std::string, ClassDesc> classes_available_;
     std::string package_;
     std::string base_class_;
     std::string attrib_name_;
     class_loader::MultiLibraryClassLoader lowlevel_class_loader_;  // The underlying classloader
   };
   
   }  // namespace pluginlib
   
   // Note: The implementation of the methods is in a separate file for clarity.
   #include "./class_loader_imp.hpp"
   
   #endif  // PLUGINLIB__CLASS_LOADER_HPP_