Program Listing for File setup_step.hpp
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)
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/* Author: David V. Lu!! */
#pragma once
#include <rclcpp/node.hpp>
#include <moveit_setup_framework/data_warehouse.hpp>
namespace moveit_setup
{
class SetupStep
{
public:
SetupStep() = default;
SetupStep(const SetupStep&) = default;
SetupStep(SetupStep&&) = default;
SetupStep& operator=(const SetupStep&) = default;
SetupStep& operator=(SetupStep&&) = default;
virtual ~SetupStep() = default;
void initialize(const rclcpp::Node::SharedPtr& parent_node, const DataWarehousePtr& config_data)
{
parent_node_ = parent_node;
config_data_ = config_data;
logger_ = std::make_shared<rclcpp::Logger>(parent_node->get_logger().get_child(getName()));
onInit();
}
virtual void onInit()
{
}
virtual std::string getName() const = 0;
virtual bool isReady() const
{
return true;
}
const rclcpp::Logger& getLogger() const
{
return *logger_;
}
protected:
DataWarehousePtr config_data_;
rclcpp::Node::SharedPtr parent_node_;
std::shared_ptr<rclcpp::Logger> logger_;
};
} // namespace moveit_setup