AnalysisRule.hpp

 
#pragma once
 
#include <memory>
#include <string>
 
#include "event_detector/BufferManager.hpp"
#include "event_detector/common.hpp"
 
namespace event_detector {
 
class EventDetector;
 
class AnalysisRule {
 public:
  AnalysisRule();
 
  virtual std::string getRuleName() const = 0;
 
  void initialize(EventDetector* ed, std::shared_ptr<BufferManager> buffer);
 
  virtual void loadRuleParameters() = 0;
 
  virtual void evaluate() = 0;
 
 protected:
  virtual void onInitialize() = 0;
 
  rclcpp::Parameter loadRuleParameter(const std::string& parameter_name);
 
  template <typename T>
  bool loadRuleParameter(const std::string& parameter_name, T& out_value, const T& default_value);
 
 protected:
  EventDetector* ed_;
 
  std::shared_ptr<BufferManager> buffer_;
};
 
}  // namespace event_detector
 
#include "event_detector/AnalysisRule.tpp"