.. _program_listing_file__tmp_ws_src_rqt_image_overlay_rqt_image_overlay_layer_include_rqt_image_overlay_layer_plugin_interface.hpp:

Program Listing for File plugin_interface.hpp
=============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rqt_image_overlay_rqt_image_overlay_layer_include_rqt_image_overlay_layer_plugin_interface.hpp>` (``/tmp/ws/src/rqt_image_overlay/rqt_image_overlay_layer/include/rqt_image_overlay_layer/plugin_interface.hpp``)

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

.. code-block:: cpp

   // Copyright 2021 Kenji Brameld
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef RQT_IMAGE_OVERLAY_LAYER__PLUGIN_INTERFACE_HPP_
   #define RQT_IMAGE_OVERLAY_LAYER__PLUGIN_INTERFACE_HPP_
   
   #include <QPainter>
   #include <string>
   #include <memory>
   #include "rclcpp/time.hpp"
   
   // forward declaration
   namespace rclcpp {class SerializedMessage;}
   
   namespace rqt_image_overlay_layer
   {
   
   class PluginInterface
   {
   public:
     virtual std::string getTopicType() const = 0;
     virtual void overlay(
       QPainter & painter,
       const std::shared_ptr<rclcpp::SerializedMessage> & msg) = 0;
     virtual bool hasMsgHeader() const = 0;
   
     // Throws std::runtime_error if called on msg type with no header
     virtual rclcpp::Time getHeaderTime(
       const std::shared_ptr<rclcpp::SerializedMessage> & msg) const = 0;
   
     virtual ~PluginInterface() {}
   
   protected:
     PluginInterface() {}
   };
   
   }  // namespace rqt_image_overlay_layer
   
   #endif  // RQT_IMAGE_OVERLAY_LAYER__PLUGIN_INTERFACE_HPP_