DART  6.10.1
PackageResourceRetriever.hpp
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32 
33 #ifndef DART_UTILS_PACKAGERESOURCERETRIEVER_HPP_
34 #define DART_UTILS_PACKAGERESOURCERETRIEVER_HPP_
35 
36 #include <unordered_map>
37 #include <vector>
40 
41 namespace dart {
42 namespace utils {
43 
51 {
52 public:
55  explicit PackageResourceRetriever(
56  const common::ResourceRetrieverPtr& _localRetriever = nullptr);
57 
58  virtual ~PackageResourceRetriever() = default;
59 
88  const std::string& _packageName, const std::string& _packageDirectory);
89 
90  // Documentation inherited.
91  bool exists(const common::Uri& _uri) override;
92 
93  // Documentation inherited.
94  common::ResourcePtr retrieve(const common::Uri& _uri) override;
95 
96  // Documentation inherited.
97  std::string getFilePath(const common::Uri& uri) override;
98 
99 private:
101  std::unordered_map<std::string, std::vector<std::string> > mPackageMap;
102 
103  const std::vector<std::string>& getPackagePaths(
104  const std::string& _packageName) const;
105  bool resolvePackageUri(
106  const common::Uri& _uri,
107  std::string& _packageName,
108  std::string& _relativePath) const;
109 };
111 
112 using PackageResourceRetrieverPtr = std::shared_ptr<PackageResourceRetriever>;
113 
114 } // namespace utils
115 } // namespace dart
116 
117 #endif // ifndef DART_UTILS_PACKAGERESOURCERETRIEVER_HPP_
#define DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
Definition: ClassWithVirtualBase.hpp:44
#define DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
Definition: ClassWithVirtualBase.hpp:43
ResourceRetriever provides methods for testing for the existance of and accessing the content of a re...
Definition: ResourceRetriever.hpp:47
Retrieve local resources specified by package:// URIs by: (1) resolving the package path and (2) pass...
Definition: PackageResourceRetriever.hpp:51
std::string getFilePath(const common::Uri &uri) override
Returns absolute file path to uri; an empty string if unavailable.
Definition: PackageResourceRetriever.cpp:107
std::unordered_map< std::string, std::vector< std::string > > mPackageMap
Definition: PackageResourceRetriever.hpp:101
void addPackageDirectory(const std::string &_packageName, const std::string &_packageDirectory)
Specify the directory of a ROS package.
Definition: PackageResourceRetriever.cpp:55
virtual ~PackageResourceRetriever()=default
common::ResourcePtr retrieve(const common::Uri &_uri) override
Returns the resource specified by a URI or nullptr on failure.
Definition: PackageResourceRetriever.cpp:89
bool exists(const common::Uri &_uri) override
Returns whether the resource specified by a URI exists.
Definition: PackageResourceRetriever.cpp:70
const std::vector< std::string > & getPackagePaths(const std::string &_packageName) const
Definition: PackageResourceRetriever.cpp:129
PackageResourceRetriever(const common::ResourceRetrieverPtr &_localRetriever=nullptr)
Construct a PackageResourceRetriever that uses the specified _localRetriever to load resolved URIs.
Definition: PackageResourceRetriever.cpp:45
common::ResourceRetrieverPtr mLocalRetriever
Definition: PackageResourceRetriever.hpp:100
bool resolvePackageUri(const common::Uri &_uri, std::string &_packageName, std::string &_relativePath) const
Definition: PackageResourceRetriever.cpp:150
std::shared_ptr< Resource > ResourcePtr
Definition: Resource.hpp:90
std::shared_ptr< ResourceRetriever > ResourceRetrieverPtr
Definition: ResourceRetriever.hpp:76
std::shared_ptr< PackageResourceRetriever > PackageResourceRetrieverPtr
Definition: PackageResourceRetriever.hpp:112
Definition: BulletCollisionDetector.cpp:65
The Uri struct provides URI parsing and merging functionality based on RFC 3986.
Definition: Uri.hpp:87