CatkinResourceRetriever.hpp

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#ifndef AIKIDO_IO_CATKINRESOURCERETRIEVER_HPP_
#define AIKIDO_IO_CATKINRESOURCERETRIEVER_HPP_
 
#include <string>
#include <unordered_map>
#include <vector>
 
#include <dart/common/ResourceRetriever.hpp>
 
namespace aikido {
namespace io {
 
class CatkinResourceRetriever : public virtual dart::common::ResourceRetriever
{
public:
  CatkinResourceRetriever();
 
  explicit CatkinResourceRetriever(
      const dart::common::ResourceRetrieverPtr& _delegate);
 
  virtual ~CatkinResourceRetriever() = default;
 
  // Documentation inherited.
  bool exists(const dart::common::Uri& _uri) override;
 
  // Documentation inherited.
  dart::common::ResourcePtr retrieve(const dart::common::Uri& _uri) override;
 
private:
  struct Workspace
  {
    std::string mPath;
    std::unordered_map<std::string, std::string> mSourceMap;
  };
 
  std::vector<Workspace> getWorkspaces() const;
  dart::common::Uri resolvePackageUri(const dart::common::Uri& _uri) const;
 
  dart::common::ResourceRetrieverPtr mDelegate;
  std::vector<Workspace> mWorkspaces;
};
 
} // namespace io
} // namespace aikido
 
#endif // AIKIDO_IO_CATKINRESOURCERETRIEVER_HPP_