graph_file_loader.hpp

// Copyright (c) 2025 Joshua Wallace
//
// 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
//
//     http://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.
 
#ifndef NAV2_ROUTE__INTERFACES__GRAPH_FILE_LOADER_HPP_
#define NAV2_ROUTE__INTERFACES__GRAPH_FILE_LOADER_HPP_
 
#include <string>
#include <memory>
 
 
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "nav2_route/types.hpp"
 
namespace nav2_route
{
 
class GraphFileLoader
{
public:
  using Ptr = std::shared_ptr<GraphFileLoader>;
 
  GraphFileLoader() = default;
 
  virtual ~GraphFileLoader() = default;
 
  virtual void configure(
    const rclcpp_lifecycle::LifecycleNode::SharedPtr node) = 0;
 
  virtual bool loadGraphFromFile(
    Graph & graph,
    GraphToIDMap & graph_to_id_map,
    std::string filepath) = 0;
};
}  // namespace nav2_route
 
#endif  // NAV2_ROUTE__INTERFACES__GRAPH_FILE_LOADER_HPP_