Program Listing for File PluginInterface.h
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#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_