DART  6.7.3
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>
39 
40 namespace dart {
41 namespace utils {
42 
49 {
50 public:
53  explicit PackageResourceRetriever(
54  const common::ResourceRetrieverPtr& _localRetriever = nullptr);
55 
56  virtual ~PackageResourceRetriever() = default;
57 
85  void addPackageDirectory(const std::string& _packageName,
86  const std::string& _packageDirectory);
87 
88  // Documentation inherited.
89  bool exists(const common::Uri& _uri) override;
90 
91  // Documentation inherited.
92  common::ResourcePtr retrieve(const common::Uri& _uri) override;
93 
94  // Documentation inherited.
95  std::string getFilePath(const common::Uri& uri) override;
96 
97 private:
99  std::unordered_map<std::string, std::vector<std::string> > mPackageMap;
100 
101  const std::vector<std::string>& getPackagePaths(
102  const std::string& _packageName) const;
103  bool resolvePackageUri(const common::Uri& _uri,
104  std::string& _packageName, std::string& _relativePath) const;
105 };
106 
107 using PackageResourceRetrieverPtr = std::shared_ptr<PackageResourceRetriever>;
108 
109 } // namespace utils
110 } // namespace dart
111 
112 #endif // ifndef DART_UTILS_PACKAGERESOURCERETRIEVER_HPP_
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:49
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:99
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:98
bool resolvePackageUri(const common::Uri &_uri, std::string &_packageName, std::string &_relativePath) const
Definition: PackageResourceRetriever.cpp:148
std::shared_ptr< Resource > ResourcePtr
Definition: Resource.hpp:88
std::shared_ptr< ResourceRetriever > ResourceRetrieverPtr
Definition: ResourceRetriever.hpp:76
std::shared_ptr< PackageResourceRetriever > PackageResourceRetrieverPtr
Definition: PackageResourceRetriever.hpp:107
Definition: BulletCollisionDetector.cpp:63
The Uri struct provides URI parsing and merging functionality based on RFC 3986.
Definition: Uri.hpp:87