mujoco_ros2_control_plugins_base.hpp

// Copyright 2026 PAL Robotics S.L.
//
// 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.
 
#ifndef MUJOCO_ROS2_CONTROL_PLUGINS__PLUGIN_BASE_HPP_
#define MUJOCO_ROS2_CONTROL_PLUGINS__PLUGIN_BASE_HPP_
 
#include <mujoco/mujoco.h>
#include <rclcpp/rclcpp.hpp>
 
namespace mujoco_ros2_control_plugins
{
 
class MuJoCoROS2ControlPluginBase
{
public:
  virtual ~MuJoCoROS2ControlPluginBase() = default;
 
  virtual bool init(rclcpp::Node::SharedPtr node, const mjModel* model, mjData* data) = 0;
 
  virtual void update_read(const mjModel* /*model*/, mjData* /*data*/)
  {
  }
 
  virtual void update_write(const mjModel* model, mjData* data)
  {
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
    update(model, data);
#pragma GCC diagnostic pop
  }
 
  [[deprecated("Override update_write() instead.")]] virtual void update(const mjModel* /*model*/, mjData* /*data*/)
  {
  }
 
  virtual void pre_step(mjData* /*data*/)
  {
  }
 
  virtual void on_reset(mjData* /*data*/)
  {
  }
 
  virtual void cleanup() = 0;
};
 
}  // namespace mujoco_ros2_control_plugins
 
#endif  // MUJOCO_ROS2_CONTROL_PLUGINS__PLUGIN_BASE_HPP_