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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2015, Fraunhofer IPA
* 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 Fraunhofer IPA 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 OWNER 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.
*********************************************************************/
/* Author: Mathias Lüdtke */
#include <ros/ros.h>
#include <moveit_ros_control_interface/ControllerHandle.h>
#include <pluginlib/class_list_macros.hpp>
#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:
moveit_controller_manager::MoveItControllerHandlePtr alloc(const std::string& name,
const std::vector<std::string>& resources) override
{
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);
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