tree_builder_base.cpp

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// Copyright 2024 Robin Müller
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//      https://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#include "auto_apms_behavior_tree/builder/tree_builder_base.hpp"
#include "auto_apms_behavior_tree/exceptions.hpp"
 
namespace auto_apms_behavior_tree
{
 
TreeBuilderBase::TreeBuilderBase(rclcpp::Node::SharedPtr node_ptr)
  : node_ptr_(node_ptr), logger_{ node_ptr->get_logger() }
{
}
 
rclcpp::Node::SharedPtr TreeBuilderBase::getNodePtr()
{
  return node_ptr_;
}
 
const rclcpp::Logger& TreeBuilderBase::getLogger()
{
  return logger_;
}
 
}  // namespace auto_apms_behavior_tree