.. _program_listing_file__tmp_ws_src_rtabmap_ros_include_rtabmap_ros_PluginInterface.h:

Program Listing for File PluginInterface.h
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rtabmap_ros_include_rtabmap_ros_PluginInterface.h>` (``/tmp/ws/src/rtabmap_ros/include/rtabmap_ros/PluginInterface.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   #ifndef PLUGIN_INTERFACE_H_
   #define PLUGIN_INTERFACE_H_
   
   #include <rclcpp/rclcpp.hpp>
   #include <string>
   #include <sensor_msgs/msg/point_cloud2.hpp>
   
   namespace rtabmap_ros
   {
   
   class PluginInterface
   {
   public:
     PluginInterface();
     virtual ~PluginInterface() {}
   
     const std::string getName() const
     {
       return name_;
     }
   
     bool isEnabled() {
       return enabled_;
     }
   
     void initialize(const std::string name);
   
     virtual sensor_msgs::msg::PointCloud2 filterPointCloud(const sensor_msgs::msg::PointCloud2 msg) = 0;
   
   protected:
     virtual void onInitialize() {}
   
     bool enabled_;  
     std::string name_;
   
   };
   
   }  // namespace rtabmap_ros
   
   #endif  // PLUGIN_INTERFACE_H_