![]() ![]() Name (not used in the example above): This refers to the name of the plugin that we're exported given as plugin_namespace/PluginName. For us, that's polygon_base::RegularPolygon.ĭescription: A description of the plugin and what it does. For us, that's polygon_plugins::Triangle.īase_class: The fully qualified base class type for the plugin. Type: The fully qualified type of the plugin. The class tag declares a plugin that we want to export from our library. Open up src/polygon_plugins.cpp and paste the following into it: Now, we'll start to do the pluginlib specific work as we declare our Triangle and Square classes as plugins. So far, we've just created some standard C++ classes. We've created two classes that inherit from RegularPolygon that we'll use as our plugins. 1 # ifndef PLUGINLIB_TUTORIALS_POLYGON_PLUGINS_H_ 2 # define PLUGINLIB_TUTORIALS_POLYGON_PLUGINS_H_ 3 # include 4 # include 5 6 namespace polygon_plugins 7 52 # endif 53
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