A plugin interface to parse a file into the graph. More...
#include <nav2_route/include/nav2_route/interfaces/graph_file_loader.hpp>
Inheritance diagram for nav2_route::GraphFileLoader:
Public Types | |
| using | Ptr = std::shared_ptr< GraphFileLoader > |
Public Member Functions | |
| GraphFileLoader ()=default | |
| Constructor. | |
| virtual | ~GraphFileLoader ()=default |
| Virtual destructor. | |
| virtual void | configure (const rclcpp_lifecycle::LifecycleNode::SharedPtr node)=0 |
| Configure the graph file loader, but do not store the node. More... | |
| virtual bool | loadGraphFromFile (Graph &graph, GraphToIDMap &graph_to_id_map, std::string filepath)=0 |
| Method to load the graph from the filepath. More... | |
Detailed Description
A plugin interface to parse a file into the graph.
Definition at line 33 of file graph_file_loader.hpp.
Member Function Documentation
◆ configure()
|
pure virtual |
Configure the graph file loader, but do not store the node.
- Parameters
-
parent pointer to user's node
Implemented in nav2_route::GeoJsonGraphFileLoader.
◆ loadGraphFromFile()
|
pure virtual |
Method to load the graph from the filepath.
- Parameters
-
graph The graph to populate filepath The file to parse idx_map A map translating nodeid's to graph idxs for use in graph modification services and idx-based route planning requests. This is much faster than using a map the full graph data structure.
- Returns
- true if graph was successfully loaded
Implemented in nav2_route::GeoJsonGraphFileLoader.
The documentation for this class was generated from the following file:
- nav2_route/include/nav2_route/interfaces/graph_file_loader.hpp
