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| /********************************************************************* | |
| * Software License Agreement (BSD License) | |
| * | |
| * Copyright (c) 2015, Fraunhofer IPA | |
| * All rights reserved. | |
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| * from this software without specific prior written permission. | |
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| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | |
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| *********************************************************************/ | |
| /* Author: Mathias Lüdtke */ | |
| #include <ros/ros.h> | |
| #include <moveit_ros_control_interface/ControllerHandle.h> | |
| #include <pluginlib/class_list_macros.h> | |
| #include <moveit_simple_controller_manager/follow_joint_trajectory_controller_handle.h> | |
| #include <memory> | |
| namespace moveit_ros_control_interface | |
| { | |
| /** | |
| * \brief Simple allocator for moveit_simple_controller_manager::FollowJointTrajectoryControllerHandle instances. | |
| */ | |
| class JointTrajectoryControllerAllocator : public ControllerHandleAllocator | |
| { | |
| public: | |
| virtual moveit_controller_manager::MoveItControllerHandlePtr alloc(const std::string& name, | |
| const std::vector<std::string>& resources) | |
| { | |
| return std::make_shared<moveit_simple_controller_manager::FollowJointTrajectoryControllerHandle>( | |
| name, "follow_joint_trajectory"); | |
| } | |
| }; | |
| } // namespace moveit_ros_control_interface | |
| PLUGINLIB_EXPORT_CLASS(moveit_ros_control_interface::JointTrajectoryControllerAllocator, | |
| moveit_ros_control_interface::ControllerHandleAllocator); |