Class for loading plugins. More...

#include <Loader.hh>

Public Member Functions
	Loader ()
	Constructor.

	~Loader ()
	Destructor.

std::set< std::string >	AliasesOfPlugin (const std::string &_pluginName) const
	Get the aliases of the plugin with the given name.

std::set< std::string >	AllPlugins () const
	Get a set of the names of all plugins that are currently known to this Loader.

template<typename InterfaceType >
std::shared_ptr< InterfaceType >	Factory (const std::string &_pluginNameOrAlias) const
	Instantiates a plugin for the given plugin name, and then returns a reference-counting interface corresponding to InterfaceType.

bool	ForgetLibrary (const std::string &_pathToLibrary)
	This loader will forget about the library at the given path location. If you want to instantiate a plugin from this library using this loader, you will first need to call LoadLib again.

bool	ForgetLibraryOfPlugin (const std::string &_pluginNameOrAlias)
	Forget the library that provides the plugin with the given name. Note that this will also forget all other plugin types which are provided by that library.

PluginPtr	Instantiate (const std::string &_pluginNameOrAlias) const
	Instantiates a plugin for the given plugin name.

template<typename PluginPtrType >
PluginPtrType	Instantiate (const std::string &_pluginNameOrAlias) const
	Instantiates a plugin of PluginType for the given plugin name. This can be used to create a specialized PluginPtr.

std::unordered_set< std::string >	InterfacesImplemented () const
	Get demangled names of interfaces that the loader has plugins for.

std::unordered_set< std::string >	LoadLib (const std::string &_pathToLibrary)
	Load a library at the given path.

std::unordered_set< std::string >	LoadLib (const std::string &_pathToLibrary, bool _noDelete)
	Load a library at the given path.

std::string	LookupPlugin (const std::string &_nameOrAlias) const
	Resolve the plugin name or alias into the name of the plugin that it maps to. If this is a name or alias that does not uniquely map to a known plugin, then the return value will be an empty string.

template<typename Interface >
std::unordered_set< std::string >	PluginsImplementing () const
	Get plugin names that implement the specified interface.

std::unordered_set< std::string >	PluginsImplementing (const std::string &_interface, const bool _demangled=true) const
	Get plugin names that implement the specified interface string. Note that the templated version of this function is recommended instead of this version to avoid confusion about whether a mangled or demangled version of a string is being used. Note that the function InterfacesImplemented() returns demangled versions of the interface names.

std::set< std::string >	PluginsWithAlias (const std::string &_alias) const
	Get plugin names that correspond to the specified alias string.

std::string	PrettyStr () const
	Makes a printable string with info about plugins.

Detailed Description

Class for loading plugins.

Constructor & Destructor Documentation

◆ Loader()

Loader ( )

Constructor.

◆ ~Loader()

~Loader ( )

Destructor.

Member Function Documentation

◆ AliasesOfPlugin()

std::set< std::string > AliasesOfPlugin ( const std::string & _pluginName ) const

Get the aliases of the plugin with the given name.

Parameters

[in] _pluginName The name of the desired plugin

Returns: A set of aliases corresponding to the desired plugin

◆ AllPlugins()

std::set< std::string > AllPlugins ( ) const

Get a set of the names of all plugins that are currently known to this Loader.

Returns: A set of all plugin names known to this Loader.

◆ Factory()

template<typename InterfaceType >

std::shared_ptr< InterfaceType > Factory ( const std::string & _pluginNameOrAlias ) const

Instantiates a plugin for the given plugin name, and then returns a reference-counting interface corresponding to InterfaceType.

If you use this function to retrieve a Factory, you can call Construct(...) on the returned interface, as long as the returned interface is not a nullptr.

Remarks: This function is identical to:

loader->Instantiate(_pluginNameOrAlias)

->QueryInterfaceSharedPtr<InterfaceType>();

Template Parameters

InterfaceType The type of interface to look for. This function is meant for producing Factories, but any type of Interface can be requested.

Parameters

[in] _pluginNameOrAlias Name or alias of the plugin that you want to use for production.

Returns: reference to an InterfaceType if it can be provided by the requested plugin.

◆ ForgetLibrary()

bool ForgetLibrary ( const std::string & _pathToLibrary )

This loader will forget about the library at the given path location. If you want to instantiate a plugin from this library using this loader, you will first need to call LoadLib again.

After this function has been called, once all plugin instances that are tied to the library have been deleted, the library will automatically be unloaded from the executable. Note that when this Loader leaves scope (or gets deleted), it will have the same effect as calling ForgetLibrary on all of the libraries that it loaded, so there is generally no need to call this function. However, it may be useful if you want to reduce clutter in the Loader instance or let go of library resources that are no longer being used.

Note that even if you have released all references to a library, it is still up to the discretion of your operating system whether (or when) that library will be unloaded. In some cases, the operating system might not choose to unload it until the program exits completely.

Parameters

[in] _pathToLibrary Path to the library that you want to forget

Returns: True if the library was actively loaded and is now successfully forgotten. If the library was not actively loaded, this returns false.

◆ ForgetLibraryOfPlugin()

bool ForgetLibraryOfPlugin ( const std::string & _pluginNameOrAlias )

Forget the library that provides the plugin with the given name. Note that this will also forget all other plugin types which are provided by that library.

Parameters

[in] _pluginNameOrAlias Name or alias of the plugin whose library you want to forget.

See also: bool ForgetLibrary(const std::string &_pathToLibrary)

◆ Instantiate() [1/2]

PluginPtr Instantiate ( const std::string & _pluginNameOrAlias ) const

Instantiates a plugin for the given plugin name.

Parameters

[in] _pluginNameOrAlias Name or alias of the plugin to instantiate.

Returns: Pointer to instantiated plugin

◆ Instantiate() [2/2]

template<typename PluginPtrType >

PluginPtrType Instantiate ( const std::string & _pluginNameOrAlias ) const

Instantiates a plugin of PluginType for the given plugin name. This can be used to create a specialized PluginPtr.

Template Parameters

PluginPtrType The specialized type of PluginPtrPtr that you want to construct.

Parameters

[in] _pluginNameOrAlias Name or alias of the plugin that you want to instantiate.

Returns: pointer for the instantiated PluginPtr

◆ InterfacesImplemented()

std::unordered_set< std::string > InterfacesImplemented ( ) const

Get demangled names of interfaces that the loader has plugins for.

Returns: Demangled names of the interfaces that are implemented

◆ LoadLib() [1/2]

std::unordered_set< std::string > LoadLib ( const std::string & _pathToLibrary )

Load a library at the given path.

Parameters

[in] _pathToLibrary The path to a library

Returns: The set of plugins that have been loaded from the library

◆ LoadLib() [2/2]

std::unordered_set< std::string > LoadLib	(	const std::string &	_pathToLibrary,
		bool	_noDelete
	)

Load a library at the given path.

Parameters

[in]	_pathToLibrary	The path to a library
[in]	_noDelete	If true, RTLD_NODELETE will be used when loading the library.

Returns: The set of plugins that have been loaded from the library

◆ LookupPlugin()

std::string LookupPlugin ( const std::string & _nameOrAlias ) const

Resolve the plugin name or alias into the name of the plugin that it maps to. If this is a name or alias that does not uniquely map to a known plugin, then the return value will be an empty string.

Parameters

[in] _nameOrAlias The name or alias of the plugin of interest.

Returns: The name of the plugin being referred to, or an empty string if no such plugin is known.

◆ PluginsImplementing() [1/2]

template<typename Interface >

std::unordered_set< std::string > PluginsImplementing ( ) const

Get plugin names that implement the specified interface.

Returns: names of plugins that implement the interface.

◆ PluginsImplementing() [2/2]

std::unordered_set< std::string > PluginsImplementing	(	const std::string &	_interface,
		const bool	_demangled = `true`
	)		const

Get plugin names that implement the specified interface string. Note that the templated version of this function is recommended instead of this version to avoid confusion about whether a mangled or demangled version of a string is being used. Note that the function InterfacesImplemented() returns demangled versions of the interface names.

If you want to pass in a mangled version of an interface name, e.g. the result that would be produced by typeid(T).name(), then set demangled to false.

Parameters

[in]	_interface	Name of an interface
[in]	_demangled	Specify whether the _interface string is demangled (default, true) or mangled (false).

Returns: Names of plugins that implement the interface

◆ PluginsWithAlias()

std::set< std::string > PluginsWithAlias ( const std::string & _alias ) const

Get plugin names that correspond to the specified alias string.

If there is more than one entry in this set, then the alias cannot be used to instantiate any of those plugins.

If the name of a plugin matches the alias string, then that plugin will be instantiated any time the string is used to instantiate a plugin, no matter how many other plugins use the alias.

Parameters

[in] _alias The std::string of the alias

Returns: A set of plugins that correspond to the desired alias

◆ PrettyStr()

std::string PrettyStr ( ) const

Makes a printable string with info about plugins.

Returns: A pretty string

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

Loader.hh

Gazebo Plugin

API Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Loader()

◆ ~Loader()

Member Function Documentation

◆ AliasesOfPlugin()

◆ AllPlugins()

◆ Factory()

◆ ForgetLibrary()

◆ ForgetLibraryOfPlugin()

◆ Instantiate() [1/2]

◆ Instantiate() [2/2]

◆ InterfacesImplemented()

◆ LoadLib() [1/2]

◆ LoadLib() [2/2]

◆ LookupPlugin()

◆ PluginsImplementing() [1/2]

◆ PluginsImplementing() [2/2]

◆ PluginsWithAlias()

◆ PrettyStr()