PerceptionModule.hpp

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#ifndef AIKIDO_PERCEPTION_PERCEPTIONMODULE_HPP_
#define AIKIDO_PERCEPTION_PERCEPTIONMODULE_HPP_
 
#include <ros/ros.h>
 
#include "aikido/perception/DetectedObject.hpp"
#include "aikido/planner/World.hpp"
 
namespace aikido {
namespace perception {
 
class PerceptionModule
{
public:
  virtual ~PerceptionModule() = default;
 
  virtual bool detectObjects(
      const aikido::planner::WorldPtr& env,
      ros::Duration timeout = ros::Duration(),
      ros::Time timestamp = ros::Time(0.0),
      std::vector<DetectedObject>* detectedObjects = nullptr)
      = 0;
};
 
} // namespace perception
} // namespace aikido
 
#endif // AIKIDO_PERCEPTION_PERCEPTIONMODULE_HPP_