PluginInterface.h

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#ifndef PLUGIN_INTERFACE_H_
#define PLUGIN_INTERFACE_H_

#include <ros/ros.h>
#include <string>
#include <sensor_msgs/PointCloud2.h>

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, ros::NodeHandle & nh);

  virtual sensor_msgs::PointCloud2 filterPointCloud(const sensor_msgs::PointCloud2 msg) = 0;

protected:
  virtual void onInitialize() {}

  bool enabled_;  
  std::string name_;
  ros::NodeHandle nh_;

};

}  // namespace rtabmap_ros

#endif  // PLUGIN_INTERFACE_H_