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Expose on-demand library load/unload in class loader constructor. #235

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Expose on-demand library load/unload in class loader constructor. #235

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5 changes: 4 additions & 1 deletion pluginlib/include/pluginlib/class_loader.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -70,12 +70,15 @@ class ClassLoader : public ClassLoaderBase
* \param attrib_name The attribute to search for in manifext.xml files, defaults to "plugin"
* \param plugin_xml_paths The list of paths of plugin.xml files, defaults to be crawled via
* ros::package::getPlugins()
* \param enable_ondemand_loadunload Set this argument to true to enable automatic library
* loading/unloading
* \throws pluginlib::ClassLoaderException if package manifest cannot be found
*/
ClassLoader(
std::string package, std::string base_class,
std::string attrib_name = std::string("plugin"),
std::vector<std::string> plugin_xml_paths = std::vector<std::string>());
std::vector<std::string> plugin_xml_paths = std::vector<std::string>(),
bool enable_ondemand_loadunload = false);

~ClassLoader();

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8 changes: 2 additions & 6 deletions pluginlib/include/pluginlib/class_loader_imp.hpp
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Expand Up @@ -68,16 +68,12 @@ namespace pluginlib
template<class T>
ClassLoader<T>::ClassLoader(
std::string package, std::string base_class, std::string attrib_name,
std::vector<std::string> plugin_xml_paths)
std::vector<std::string> plugin_xml_paths, bool enable_ondemand_loadunload)
: plugin_xml_paths_(plugin_xml_paths),
package_(package),
base_class_(base_class),
attrib_name_(attrib_name),
// NOTE: The parameter to the class loader enables/disables on-demand class
// loading/unloading.
// Leaving it off for now... libraries will be loaded immediately and won't
// be unloaded until class loader is destroyed or force unload.
lowlevel_class_loader_(false)
lowlevel_class_loader_(enable_ondemand_loadunload)
/***************************************************************************/
{
ROS_DEBUG_NAMED("pluginlib.ClassLoader", "Creating ClassLoader, base = %s, address = %p",
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