collision_plugin_cache.cpp

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#include <moveit/collision_detection/collision_plugin_cache.h>
#include <pluginlib/class_loader.hpp>
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
#include <memory>
#include <moveit/utils/logger.hpp>
 
namespace collision_detection
{
namespace
{
rclcpp::Logger getLogger()
{
  return moveit::getLogger("moveit.core.collision_detection_plugin_cache");
}
}  // namespace
 
class CollisionPluginCache::CollisionPluginCacheImpl
{
public:
  CollisionPluginCacheImpl()
  {
    try
    {
      cache_ = std::make_shared<pluginlib::ClassLoader<CollisionPlugin>>("moveit_core",
                                                                         "collision_detection::CollisionPlugin");
    }
    catch (pluginlib::PluginlibException& e)
    {
      RCLCPP_ERROR(getLogger(), "Unable to construct collision plugin loader. Error: %s", e.what());
    }
  }
 
  CollisionPluginPtr load(const std::string& name)
  {
    CollisionPluginPtr plugin;
    try
    {
      plugin = cache_->createUniqueInstance(name);
      plugins_[name] = plugin;
    }
    catch (pluginlib::PluginlibException& ex)
    {
      RCLCPP_ERROR_STREAM(getLogger(), "Exception while loading " << name << ": " << ex.what());
    }
    return plugin;
  }
 
  bool activate(const std::string& name, const planning_scene::PlanningScenePtr& scene)
  {
    std::map<std::string, CollisionPluginPtr>::iterator it = plugins_.find(name);
    if (it == plugins_.end())
    {
      const CollisionPluginPtr plugin = load(name);
      if (plugin)
      {
        return plugin->initialize(scene);
      }
      return false;
    }
    if (it->second)
    {
      return it->second->initialize(scene);
    }
    return false;
  }
 
private:
  std::shared_ptr<pluginlib::ClassLoader<CollisionPlugin>> cache_;
  std::map<std::string, CollisionPluginPtr> plugins_;
};
 
CollisionPluginCache::CollisionPluginCache()
{
  cache_ = std::make_shared<CollisionPluginCacheImpl>();
}
 
CollisionPluginCache::~CollisionPluginCache() = default;
 
bool CollisionPluginCache::activate(const std::string& name, const planning_scene::PlanningScenePtr& scene)
{
  return cache_->activate(name, scene);
}
 
}  // namespace collision_detection