setup_step.hpp

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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