CapabilityFactoryFor< ActionServerT > Class Template Reference

Boilerplate-free CapabilityFactory for any Capability<ActionServerT>. More...

#include <capability_factory.hpp>

Inheritance diagram for CapabilityFactoryFor< ActionServerT >:

Public Member Functions
std::shared_ptr< CapabilityNodeBase >	create (const std::string &capability_name, const rclcpp::NodeOptions &options) const override
	Constructs and returns one capability node instance ready for the caller to configure()/activate().

Additional Inherited Members
Public Types inherited from CapabilityFactory
using	SharedPtr = std::shared_ptr<CapabilityFactory>
	Shared pointer to a CapabilityFactory.

Detailed Description

template<typename ActionServerT>
class easyfleet_core::CapabilityFactoryFor< ActionServerT >

Boilerplate-free CapabilityFactory for any Capability<ActionServerT>.

A concrete backend needs nothing beyond one line to become plugin-loadable – see the .cpp of any capability implementation for the matching PLUGINLIB_EXPORT_CLASS registration:

PLUGINLIB_EXPORT_CLASS(
  (easyfleet_core::CapabilityFactoryFor<PerceptionFakeActionServer>),
  easyfleet_core::CapabilityFactory)

Member Function Documentation

create()

template<typename ActionServerT>

std::shared_ptr< CapabilityNodeBase > create ( const std::string & capability_name, const rclcpp::NodeOptions & options ) const

inlineoverridevirtual

Constructs and returns one capability node instance ready for the caller to configure()/activate().

Parameters

capability_name	Passed straight through to Capability<T>'s own constructor – the node name, the action name, and the capability identity field published on /capabilities.
options	Node options Robot::add_capability() has already stamped with this robot's namespace (see robot.hpp), plus whatever parameter overrides the caller supplied.

Returns

The newly constructed capability node, through its CapabilityNodeBase interface.

Implements CapabilityFactory.

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The documentation for this class was generated from the following file:

• easyfleet_core/include/easyfleet_core/capability_factory.hpp