// Copyright (c) 2025, Metro Robots
//
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// 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.
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//    * 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.
//
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//      contributors may be used to endorse or promote products derived from
//      this software without specific prior written permission.
//
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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/* Author: David V. Lu!! */

#include <iostream>
#include <pluginlib/class_loader.hpp>

int main(int argc, char ** argv)
{
  if (argc != 3) {
    std::cerr << "Requires two arguments!" << std::endl;
    std::cerr << "Usage: " << argv[0];
    std::cerr << " [package] [base_class]" << std::endl;
    return -1;
  }

  // Note: You cannot use void if you want to use the templated createSharedInstance methods
  pluginlib::ClassLoader<void> cl(argv[1], argv[2]);
  for (const auto & declared : cl.getDeclaredClasses()) {
    std::cout << declared << std::endl;
  }
  return 0;
}
