text: ///////////////////////////////////////////////////////////////////////////////
  // Copyright (C) 2012, hiDOF, Inc
  //
  // Redistribution and use in source and binary forms, with or without
  // modification, are permitted provided that the following conditions are met:
  //   * Redistributions of source code must retain the above copyright notice,
  //     this list of conditions and the following disclaimer.
  //   * Redistributions in binary form must reproduce the above copyright
  //     notice, this list of conditions and the following disclaimer in the
  //     documentation and/or other materials provided with the distribution.
  //   * Neither the name of hiDOF, Inc. nor the names of its
  //     contributors may be used to endorse or promote products derived from
  //     this software without specific prior written permission.
  //
  // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
  // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
  // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
  // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
  // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
  // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
  // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
  // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  // POSSIBILITY OF SUCH DAMAGE.
  //////////////////////////////////////////////////////////////////////////////
  
  #ifndef CONRTOLLER_MANAGER_CONTROLLER_LOADER_INTERFACE_H
  #define CONRTOLLER_MANAGER_CONTROLLER_LOADER_INTERFACE_H
  
  #include <vector>
  #include <string>
  #include <memory>
  #include <controller_interface/controller_base.h>
  
  namespace controller_manager
  {
  
  /** \brief Abstract Controller Loader Interface
   *
   * This interface can be used to load and instantiate controllers from sources
   * other than the pluginlib-based \ref ControllerLoader.
   *
   */
  class ControllerLoaderInterface
  {
  public:
    ControllerLoaderInterface(const std::string& name) : name_(name) { }
    virtual controller_interface::ControllerBaseSharedPtr createInstance(const std::string& lookup_name) = 0;
    virtual std::vector<std::string> getDeclaredClasses() = 0;
    virtual void reload() = 0;
    const std::string& getName() { return name_; }
    virtual ~ControllerLoaderInterface() { }
  private:
    const std::string name_;
  
  };
  
  typedef std::shared_ptr<ControllerLoaderInterface> ControllerLoaderInterfaceSharedPtr;
  
  }
  
  #endif
  