PluginInterface.h

Go to the documentation of this file.

#ifndef PLUGIN_INTERFACE_H_
#define PLUGIN_INTERFACE_H_
 
#include <ros/ros.h>
#include <string>
#include <sensor_msgs/PointCloud2.h>
 
namespace rtabmap_odom
{
 
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_odom
 
#endif  // PLUGIN_INTERFACE_H_