Program Listing for File transaction_deserializer.hpp

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#ifndef FUSE_CORE__TRANSACTION_DESERIALIZER_HPP_
#define FUSE_CORE__TRANSACTION_DESERIALIZER_HPP_

#include <fuse_core/constraint.hpp>
#include <fuse_core/transaction.hpp>
#include <fuse_core/variable.hpp>
#include <fuse_msgs/msg/serialized_transaction.hpp>
#include <pluginlib/class_loader.hpp>

namespace fuse_core
{

void serializeTransaction(
  const fuse_core::Transaction & transaction,
  fuse_msgs::msg::SerializedTransaction & msg);

class TransactionDeserializer
{
public:
  TransactionDeserializer();

  inline fuse_core::Transaction::UniquePtr deserialize(
    const fuse_msgs::msg::SerializedTransaction::ConstSharedPtr msg) const
  {
    return deserialize(*msg);
  }

  fuse_core::Transaction::UniquePtr deserialize(
    const fuse_msgs::msg::SerializedTransaction & msg) const;

private:
  pluginlib::ClassLoader<fuse_core::Variable> variable_loader_;

  pluginlib::ClassLoader<fuse_core::Constraint> constraint_loader_;

  pluginlib::ClassLoader<fuse_core::Loss> loss_loader_;
};

}  // namespace fuse_core

#endif  // FUSE_CORE__TRANSACTION_DESERIALIZER_HPP_