plugin_neighbor_generator.hpp

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/*
 * Copyright (C) 2022 LEIDOS.
 *
 * 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 __ARBITRATOR_INCLUDE_PLUGIN_NEIGHBOR_GENERATOR_HPP__
#define __ARBITRATOR_INCLUDE_PLUGIN_NEIGHBOR_GENERATOR_HPP__
 
#include "neighbor_generator.hpp"
#include "capabilities_interface.hpp"
#include "vehicle_state.hpp"
 
namespace arbitrator
{
    template <class T>
    class PluginNeighborGenerator : public NeighborGenerator
    {
        public:
            PluginNeighborGenerator(std::shared_ptr<T> ci) :
                ci_(ci) {};
 
            std::vector<carma_planning_msgs::msg::ManeuverPlan> generate_neighbors(carma_planning_msgs::msg::ManeuverPlan plan, const VehicleState& initial_state) const;
        private:
            std::shared_ptr<T> ci_;
    };
}
 
#include "plugin_neighbor_generator.tpp"
 
#endif //__ARBITRATOR_INCLUDE_PLUGIN_NEIGHBOR_GENERATOR_HPP__