layer_plugin.h

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#pragma once
#include <spark_dsg/dynamic_scene_graph.h>

#include <visualization_msgs/msg/marker_array.hpp>

#include "hydra_visualizer/layer_info.h"
#include "hydra_visualizer/utils/marker_tracker.h"

namespace hydra {

struct LayerPlugin {
 public:
  using Ptr = std::unique_ptr<LayerPlugin>;

  virtual ~LayerPlugin() = default;

  virtual void draw(const std_msgs::msg::Header& header,
                    const visualizer::LayerInfo& info,
                    const spark_dsg::SceneGraphLayer& layer,
                    const spark_dsg::Mesh* mesh,
                    visualization_msgs::msg::MarkerArray& msg,
                    MarkerTracker& tracker) = 0;

  virtual bool hasChange() const { return has_change_; }

  virtual void clearChangeFlag() { has_change_ = false; }

 protected:
  bool has_change_ = false;
};

}  // namespace hydra