validation_base.hpp

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#pragma once
#include <any>
#include <string>
#include <vector>
#include <rclcpp/rclcpp.hpp>
#include <fabric_base/utils/structs.hpp>
#include <fabric_base/utils/xml_helper.hpp>
#include <fabric_base/utils/exception.hpp>
 
namespace fabric
{
 
class ValidationBase
{
public:
  virtual ~ValidationBase() = default;
 
  virtual void initialize(const rclcpp::Node::SharedPtr& node)
  {
    initialize_base(node, "ValidationBasePlugin");
  }
 
  virtual void validate(fabric::Plan& plan, std::vector<CapabilityInfo>& capabilities) = 0;
 
protected:
  void initialize_base(const rclcpp::Node::SharedPtr& node, const std::string& plugin_name)
  {
    node_ = node;
    plugin_name_ = plugin_name;
  }
 
  rclcpp::Node::SharedPtr node_;
 
  std::string plugin_name_;
};
 
}  // namespace fabric