DART 6.10.1
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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
41namespace dart {
42namespace utils {
43
51{
52public:
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
99private:
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;
106 const common::Uri& _uri,
107 std::string& _packageName,
108 std::string& _relativePath) const;
109};
111
112using 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
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