DART  6.7.3
SharedLibraryManager.hpp
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2011-2019, The DART development contributors
3  * All rights reserved.
4  *
5  * The list of contributors can be found at:
6  * https://github.com/dartsim/dart/blob/master/LICENSE
7  *
8  * This file is provided under the following "BSD-style" License:
9  * Redistribution and use in source and binary forms, with or
10  * without modification, are permitted provided that the following
11  * conditions are met:
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
19  * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
20  * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
21  * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
23  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
24  * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
25  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
26  * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27  * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30  * POSSIBILITY OF SUCH DAMAGE.
31  */
32 
33 #ifndef DART_COMMON_DETAIL_SHAREDLIBRARYMANAGER_HPP_
34 #define DART_COMMON_DETAIL_SHAREDLIBRARYMANAGER_HPP_
35 
36 #include <memory>
37 #include <unordered_map>
38 #include <boost/filesystem.hpp>
40 
41 #include <boost/functional/hash.hpp>
42 
43 namespace std {
44 
45 template<> struct hash<boost::filesystem::path>
46 {
47  size_t operator()(const boost::filesystem::path& p) const
48  {
49  return boost::filesystem::hash_value(p);
50  }
51 };
52 
53 } // namespace std
54 
55 namespace dart {
56 namespace common {
57 
58 class SharedLibrary;
59 
60 namespace detail {
61 
62 class SharedLibraryManager final : public Singleton<SharedLibraryManager>
63 {
64 public:
73  std::shared_ptr<SharedLibrary> load(const boost::filesystem::path& path);
74 
75 protected:
76  friend class Singleton<SharedLibraryManager>;
77 
78 protected:
80  std::unordered_map<
81  boost::filesystem::path, std::weak_ptr<SharedLibrary>> mLibraries;
82 };
83 
84 } // namespace detail
85 } // namespace common
86 } // namespace dart
87 
88 #endif // DART_COMMON_DETAIL_SHAREDLIBRARYMANAGER_HPP_
Singleton template class.
Definition: Singleton.hpp:51
Definition: SharedLibraryManager.hpp:63
std::shared_ptr< SharedLibrary > load(const boost::filesystem::path &path)
Loads the shared library with the specified path.
Definition: SharedLibraryManager.cpp:43
std::unordered_map< boost::filesystem::path, std::weak_ptr< SharedLibrary > > mLibraries
Map from library path to the library instances.
Definition: SharedLibraryManager.hpp:81
Definition: BulletCollisionDetector.cpp:63
Definition: SharedLibraryManager.hpp:43
size_t operator()(const boost::filesystem::path &p) const
Definition: SharedLibraryManager.hpp:47