plugin.h

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#ifndef ED_PLUGIN_H_
#define ED_PLUGIN_H_
 
#include <pluginlib/class_list_macros.h>
#define ED_REGISTER_PLUGIN(Derived)  PLUGINLIB_EXPORT_CLASS(Derived, ed::Plugin)
 
#include <tue/config/configuration.h>
 
#include "ed/types.h"
#include "ed/init_data.h"
 
#include <tf2_ros/buffer.h>
 
#include <vector>
 
 
namespace ed {
 
struct PluginInput
{
    PluginInput(const WorldModel& world_, const std::vector<UpdateRequestConstPtr>& deltas_)
        : world(world_), deltas(deltas_) {}
 
    const WorldModel& world;
    const std::vector<UpdateRequestConstPtr>& deltas;
};
 
class Plugin
{
 
    friend class PluginContainer;
 
public:
 
    virtual ~Plugin() {}
 
    // Old
    virtual void configure(tue::Configuration /*config*/) {}
    virtual void initialize() {}
    virtual void process(const WorldModel& /*world*/, UpdateRequest& /*req*/) {}
 
    // New
    virtual void initialize(InitData& /*init*/) {}
    virtual void process(const PluginInput& /*data*/, UpdateRequest& /*req*/) {}
 
    const std::string& name() const { return name_; }
 
protected:
 
    TFBufferConstPtr tf_buffer_;
 
private:
 
    std::string name_;
 
};
 
}
 
#endif