tree_builder_base.hpp

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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.
 
#pragma once
 
#include "rclcpp/node.hpp"
#include "auto_apms_behavior_tree/builder/tree_builder.hpp"
 
namespace auto_apms_behavior_tree
{
 
class TreeBuilderBase
{
public:
  TreeBuilderBase(rclcpp::Node::SharedPtr node_ptr);
 
  virtual ~TreeBuilderBase() = default;
 
  virtual bool setRequest(const std::string& request) = 0;
 
  virtual void configureBuilder(TreeBuilder& builder) = 0;
 
  rclcpp::Node::SharedPtr getNodePtr();
 
  const rclcpp::Logger& getLogger();
 
private:
  rclcpp::Node::SharedPtr node_ptr_;
  const rclcpp::Logger logger_;
};
 
}  // namespace auto_apms_behavior_tree