Class GraphFileSaver

• Defined in File graph_file_saver.hpp

Inheritance Relationships

Derived Type

• public nav2_route::GeoJsonGraphFileSaver (Class GeoJsonGraphFileSaver)

Class Documentation

class GraphFileSaver

A plugin interface to parse a file into the graph.

Subclassed by nav2_route::GeoJsonGraphFileSaver

Public Types

using Ptr = std::shared_ptr<GraphFileSaver>

Public Functions

GraphFileSaver() = default

Constructor.

virtual ~GraphFileSaver() = default

Virtual destructor.

virtual void configure(const rclcpp_lifecycle::LifecycleNode::SharedPtr node) = 0

Configure the graph file saver, but do not store the node.

Parameters:

parent – pointer to user’s node

virtual bool saveGraphToFile(Graph &graph, std::string filepath) = 0

Method to save the graph to the filepath.

Parameters:

• graph – The graph to save

• filepath – The path to save the file to

Returns:

true if graph was successfully saved