node_registration_from_library_adapter.hpp

// Copyright 2026 Robin Müller
//
// 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.
 
#pragma once
 
#include "auto_apms_behavior_tree_core/node/node_registration_interface.hpp"
 
namespace auto_apms_behavior_tree::core
{

class NodeRegistrationFromLibraryAdapter : public NodeRegistrationInterface
{
public:
  NodeRegistrationFromLibraryAdapter() = default;
  ~NodeRegistrationFromLibraryAdapter() override = default;
 
  bool requiresRosNodeContext() const override;
 
  void registerWithBehaviorTreeFactory(
    BT::BehaviorTreeFactory & factory, const std::string & name,
    const auto_apms_behavior_tree::core::RosNodeContext * const context_ptr = nullptr) const override;
 
private:
  virtual std::string getPluginLibraryPath() const = 0;
};
 
}  // namespace auto_apms_behavior_tree::core