tesseract_collision::ContactManagersPluginFactory Class Reference

#include <contact_managers_plugin_factory.h>

Collaboration diagram for tesseract_collision::ContactManagersPluginFactory:

Public Member Functions
	ContactManagersPluginFactory ()
	~ContactManagersPluginFactory ()
	ContactManagersPluginFactory (const ContactManagersPluginFactory &)=default
ContactManagersPluginFactory &	operator= (const ContactManagersPluginFactory &)=default
	ContactManagersPluginFactory (ContactManagersPluginFactory &&)=default
ContactManagersPluginFactory &	operator= (ContactManagersPluginFactory &&)=default
	ContactManagersPluginFactory (YAML::Node config)
	Load plugins from yaml node. More...
	ContactManagersPluginFactory (const tesseract_common::fs::path &config)
	Load plugins from file path. More...
	ContactManagersPluginFactory (const std::string &config)
	Load plugins from string. More...
void	addSearchPath (const std::string &path)
	Add location for the plugin loader to search. More...
std::set< std::string >	getSearchPaths () const
	Get the plugin search paths. More...
void	clearSearchPaths ()
	Clear the search paths. More...
void	addSearchLibrary (const std::string &library_name)
	Add a library to search for plugin name. More...
std::set< std::string >	getSearchLibraries () const
	Get the plugin search libraries. More...
void	clearSearchLibraries ()
	Clean the search libraries. More...
void	addDiscreteContactManagerPlugin (const std::string &name, tesseract_common::PluginInfo plugin_info)
	Add a discrete contact manager plugin. More...
bool	hasDiscreteContactManagerPlugins () const
	Check if it has discrete contact manager plugins. More...
tesseract_common::PluginInfoMap	getDiscreteContactManagerPlugins () const
	Get the map of discrete contact manager plugin. More...
void	removeDiscreteContactManagerPlugin (const std::string &name)
	Remove discrete contact manager plugin. More...
void	setDefaultDiscreteContactManagerPlugin (const std::string &name)
	Set a default discrete contact manager. More...
std::string	getDefaultDiscreteContactManagerPlugin () const
	Get the default discrete contact manager. More...
void	addContinuousContactManagerPlugin (const std::string &name, tesseract_common::PluginInfo plugin_info)
	Add a continuous contact manager plugin. More...
bool	hasContinuousContactManagerPlugins () const
	Check if it has continuous contact manager plugins. More...
tesseract_common::PluginInfoMap	getContinuousContactManagerPlugins () const
	Get the map of continuous contact manager plugin. More...
void	removeContinuousContactManagerPlugin (const std::string &name)
	Remove continuous contact manager plugin. More...
void	setDefaultContinuousContactManagerPlugin (const std::string &name)
	Set a default continuous contact manager. More...
std::string	getDefaultContinuousContactManagerPlugin () const
	Get the default continuous contact manager. More...
DiscreteContactManager::UPtr	createDiscreteContactManager (const std::string &name) const
	Get discrete contact manager object given name. More...
DiscreteContactManager::UPtr	createDiscreteContactManager (const std::string &name, const tesseract_common::PluginInfo &plugin_info) const
	Get discrete contact manager object given plugin info. More...
ContinuousContactManager::UPtr	createContinuousContactManager (const std::string &name) const
	Get continuous contact manager object given name. More...
ContinuousContactManager::UPtr	createContinuousContactManager (const std::string &name, const tesseract_common::PluginInfo &plugin_info) const
	Get continuous contact manager object given plugin info. More...
void	saveConfig (const boost::filesystem::path &file_path) const
	Save the plugin information to a yaml config file. More...
YAML::Node	getConfig () const
	Get the plugin information config as a yaml node. More...

Private Attributes
std::map< std::string, DiscreteContactManagerFactory::Ptr >	discrete_factories_
std::map< std::string, ContinuousContactManagerFactory::Ptr >	continuous_factories_
tesseract_common::PluginInfoContainer	discrete_plugin_info_
tesseract_common::PluginInfoContainer	continuous_plugin_info_
tesseract_common::PluginLoader	plugin_loader_

Constructor & Destructor Documentation

ContactManagersPluginFactory() [1/6]

tesseract_collision::ContactManagersPluginFactory::ContactManagersPluginFactory

(

)

~ContactManagersPluginFactory()

tesseract_collision::ContactManagersPluginFactory::~ContactManagersPluginFactory ( )

default

ContactManagersPluginFactory() [2/6]

tesseract_collision::ContactManagersPluginFactory::ContactManagersPluginFactory ( const ContactManagersPluginFactory &  )

default

ContactManagersPluginFactory() [3/6]

tesseract_collision::ContactManagersPluginFactory::ContactManagersPluginFactory ( ContactManagersPluginFactory &&  )

default

ContactManagersPluginFactory() [4/6]

tesseract_collision::ContactManagersPluginFactory::ContactManagersPluginFactory

(

YAML::Node

config

)

Load plugins from yaml node.

Parameters

config

The config node

ContactManagersPluginFactory() [5/6]

tesseract_collision::ContactManagersPluginFactory::ContactManagersPluginFactory

(

const tesseract_common::fs::path &

config

)

Load plugins from file path.

Parameters

config

The config file path

ContactManagersPluginFactory() [6/6]

tesseract_collision::ContactManagersPluginFactory::ContactManagersPluginFactory

(

const std::string &

config

)

Load plugins from string.

Parameters

config

The config string

Member Function Documentation

addContinuousContactManagerPlugin()

void tesseract_collision::ContactManagersPluginFactory::addContinuousContactManagerPlugin	(	const std::string &	name,
		tesseract_common::PluginInfo	plugin_info
	)

Add a continuous contact manager plugin.

Parameters

name	The name
plugin_info	The plugin information

addDiscreteContactManagerPlugin()

void tesseract_collision::ContactManagersPluginFactory::addDiscreteContactManagerPlugin	(	const std::string &	name,
		tesseract_common::PluginInfo	plugin_info
	)

Add a discrete contact manager plugin.

Parameters

name	The name
plugin_info	The plugin information

addSearchLibrary()

void tesseract_collision::ContactManagersPluginFactory::addSearchLibrary

(

const std::string &

library_name

)

Add a library to search for plugin name.

Parameters

library_name

The library name without the prefix or suffix

addSearchPath()

void tesseract_collision::ContactManagersPluginFactory::addSearchPath

(

const std::string &

path

)

Add location for the plugin loader to search.

Parameters

path	The full path to the directory

clearSearchLibraries()

void tesseract_collision::ContactManagersPluginFactory::clearSearchLibraries

(

)

Clean the search libraries.

clearSearchPaths()

void tesseract_collision::ContactManagersPluginFactory::clearSearchPaths

(

)

Clear the search paths.

createContinuousContactManager() [1/2]

ContinuousContactManager::UPtr tesseract_collision::ContactManagersPluginFactory::createContinuousContactManager

(

const std::string &

name

)

const

Get continuous contact manager object given name.

This looks for continuous contact manager plugin info. If not found nullptr is returned.

Parameters

name

The name

createContinuousContactManager() [2/2]

ContinuousContactManager::UPtr tesseract_collision::ContactManagersPluginFactory::createContinuousContactManager	(	const std::string &	name,
		const tesseract_common::PluginInfo &	plugin_info
	)		const

Get continuous contact manager object given plugin info.

Parameters

name	The name
plugin_info	The plugin information to create kinematics object

createDiscreteContactManager() [1/2]

DiscreteContactManager::UPtr tesseract_collision::ContactManagersPluginFactory::createDiscreteContactManager

(

const std::string &

name

)

const

Get discrete contact manager object given name.

This looks for discrete contact manager plugin info. If not found nullptr is returned.

Parameters

name

The name

createDiscreteContactManager() [2/2]

DiscreteContactManager::UPtr tesseract_collision::ContactManagersPluginFactory::createDiscreteContactManager	(	const std::string &	name,
		const tesseract_common::PluginInfo &	plugin_info
	)		const

Get discrete contact manager object given plugin info.

Parameters

name	The name
plugin_info	The plugin information to create kinematics object

getConfig()

YAML::Node tesseract_collision::ContactManagersPluginFactory::getConfig

(

)

const

Get the plugin information config as a yaml node.

Returns

The plugin information config yaml node/

getContinuousContactManagerPlugins()

tesseract_common::PluginInfoMap tesseract_collision::ContactManagersPluginFactory::getContinuousContactManagerPlugins

(

)

const

Get the map of continuous contact manager plugin.

Returns

A map of plugins

getDefaultContinuousContactManagerPlugin()

std::string tesseract_collision::ContactManagersPluginFactory::getDefaultContinuousContactManagerPlugin

(

)

const

Get the default continuous contact manager.

Returns

The default continuous contact manager name

getDefaultDiscreteContactManagerPlugin()

std::string tesseract_collision::ContactManagersPluginFactory::getDefaultDiscreteContactManagerPlugin

(

)

const

Get the default discrete contact manager.

Returns

The default discrete contact manager

getDiscreteContactManagerPlugins()

tesseract_common::PluginInfoMap tesseract_collision::ContactManagersPluginFactory::getDiscreteContactManagerPlugins

(

)

const

Get the map of discrete contact manager plugin.

Returns

A map of plugins

getSearchLibraries()

std::set< std::string > tesseract_collision::ContactManagersPluginFactory::getSearchLibraries

(

)

const

Get the plugin search libraries.

Returns

The search libraries

getSearchPaths()

std::set< std::string > tesseract_collision::ContactManagersPluginFactory::getSearchPaths

(

)

const

Get the plugin search paths.

Returns

The search paths

hasContinuousContactManagerPlugins()

bool tesseract_collision::ContactManagersPluginFactory::hasContinuousContactManagerPlugins

(

)

const

Check if it has continuous contact manager plugins.

Returns

True if continuous PluginInfoMap is not empty, otherwise fale

hasDiscreteContactManagerPlugins()

bool tesseract_collision::ContactManagersPluginFactory::hasDiscreteContactManagerPlugins

(

)

const

Check if it has discrete contact manager plugins.

Returns

True if discrete PluginInfoMap is not empty, otherwise fale

operator=() [1/2]

ContactManagersPluginFactory & tesseract_collision::ContactManagersPluginFactory::operator= ( const ContactManagersPluginFactory &  )

default

operator=() [2/2]

ContactManagersPluginFactory & tesseract_collision::ContactManagersPluginFactory::operator= ( ContactManagersPluginFactory &&  )

default

removeContinuousContactManagerPlugin()

void tesseract_collision::ContactManagersPluginFactory::removeContinuousContactManagerPlugin

(

const std::string &

name

)

Remove continuous contact manager plugin.

Parameters

name	The name of the contact manager to remove

removeDiscreteContactManagerPlugin()

void tesseract_collision::ContactManagersPluginFactory::removeDiscreteContactManagerPlugin

(

const std::string &

name

)

Remove discrete contact manager plugin.

Parameters

name	The name of the contact manager to remove

saveConfig()

void tesseract_collision::ContactManagersPluginFactory::saveConfig

(

const boost::filesystem::path &

file_path

)

const

Save the plugin information to a yaml config file.

Parameters

file_path

The file path

setDefaultContinuousContactManagerPlugin()

void tesseract_collision::ContactManagersPluginFactory::setDefaultContinuousContactManagerPlugin

(

const std::string &

name

)

Set a default continuous contact manager.

Parameters

name

The name

setDefaultDiscreteContactManagerPlugin()

void tesseract_collision::ContactManagersPluginFactory::setDefaultDiscreteContactManagerPlugin

(

const std::string &

name

)

Set a default discrete contact manager.

Parameters

name

The name

Member Data Documentation

continuous_factories_

std::map<std::string, ContinuousContactManagerFactory::Ptr> tesseract_collision::ContactManagersPluginFactory::continuous_factories_

mutableprivate

continuous_plugin_info_

tesseract_common::PluginInfoContainer tesseract_collision::ContactManagersPluginFactory::continuous_plugin_info_

private

discrete_factories_

std::map<std::string, DiscreteContactManagerFactory::Ptr> tesseract_collision::ContactManagersPluginFactory::discrete_factories_

mutableprivate

discrete_plugin_info_

tesseract_common::PluginInfoContainer tesseract_collision::ContactManagersPluginFactory::discrete_plugin_info_

private

plugin_loader_

tesseract_common::PluginLoader tesseract_collision::ContactManagersPluginFactory::plugin_loader_

private

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The documentation for this class was generated from the following files:

• tesseract_collision/core/include/tesseract_collision/core/contact_managers_plugin_factory.h
• tesseract_collision/core/src/contact_managers_plugin_factory.cpp