Program Listing for File graph_deserializer.hpp

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#ifndef FUSE_CORE__GRAPH_DESERIALIZER_HPP_
#define FUSE_CORE__GRAPH_DESERIALIZER_HPP_

#include <fuse_core/constraint.hpp>
#include <fuse_core/graph.hpp>
#include <fuse_core/variable.hpp>
#include <fuse_msgs/msg/serialized_graph.hpp>
#include <pluginlib/class_loader.hpp>

namespace fuse_core
{

void serializeGraph(const fuse_core::Graph & graph, fuse_msgs::msg::SerializedGraph & msg);

class GraphDeserializer
{
public:
  GraphDeserializer();

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

  fuse_core::Graph::UniquePtr deserialize(const fuse_msgs::msg::SerializedGraph & msg) const;

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

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

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

  // TODO(efernandez) Try to make pluginlib::ClassLoader<T>::createUnmanagedInstance() method const,
  //                  so we can remove the mutable modifier here and still have the deserialize
  //                  methods const
  mutable pluginlib::ClassLoader<fuse_core::Graph> graph_loader_;
};

}  // namespace fuse_core

#endif  // FUSE_CORE__GRAPH_DESERIALIZER_HPP_