.. _program_listing_file_include_moveit_setup_framework_setup_step.hpp:

Program Listing for File setup_step.hpp
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_moveit_setup_framework_setup_step.hpp>` (``include/moveit_setup_framework/setup_step.hpp``)

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

.. code-block:: cpp

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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