Program Listing for File motion_model.hpp

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#ifndef FUSE_CORE__MOTION_MODEL_HPP_
#define FUSE_CORE__MOTION_MODEL_HPP_

#include <string>

#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/graph.hpp>
#include <fuse_core/transaction.hpp>

namespace fuse_core
{

class MotionModel
{
public:
  FUSE_SMART_PTR_ALIASES_ONLY(MotionModel)


  virtual ~MotionModel() = default;

  virtual bool apply(Transaction & transaction) = 0;

  virtual void graphCallback(Graph::ConstSharedPtr /*graph*/) {}

  virtual void initialize(
    node_interfaces::NodeInterfaces<ALL_FUSE_CORE_NODE_INTERFACES> interfaces,
    const std::string & name) = 0;

  virtual const std::string & name() const = 0;

  virtual void start() {}

  virtual void stop() {}

protected:
  MotionModel() = default;
};

}  // namespace fuse_core

#endif  // FUSE_CORE__MOTION_MODEL_HPP_