48 lines
1.5 KiB
C++
48 lines
1.5 KiB
C++
// Copyright 2019 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCLCPP_COMPONENTS__NODE_FACTORY_HPP__
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#define RCLCPP_COMPONENTS__NODE_FACTORY_HPP__
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#include "rclcpp/node_options.hpp"
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#include "rclcpp_components/node_instance_wrapper.hpp"
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namespace rclcpp_components
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{
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/// The NodeFactory interface is used by the class loader to instantiate components.
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/**
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* The NodeFactory interface serves two purposes:
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* * It allows for classes not derived from `rclcpp::Node` to be used as components.
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* * It allows derived constructors to be called when components are loaded.
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*/
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class NodeFactory
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{
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public:
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NodeFactory() = default;
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virtual ~NodeFactory() = default;
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/// Create an instance of a component
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/**
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* \param[in] options Additional options used in the construction of the component.
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*/
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virtual
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NodeInstanceWrapper
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create_node_instance(const rclcpp::NodeOptions & options) = 0;
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};
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} // namespace rclcpp_components
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#endif // RCLCPP_COMPONENTS__NODE_FACTORY_HPP__
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