Program Listing for File mlos_perception_subsystem.hpp

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#pragma once

/*******************************************************************************
 * Includes
 ******************************************************************************/
#include <memory>
#include <utility>

#include "cosm/subsystem/perception/rlos_perception_subsystem.hpp"
#include "cosm/subsystem/perception/base_memory_model.hpp"

/*******************************************************************************
 * Namespaces
 ******************************************************************************/
namespace cosm::subsystem::perception {

/*******************************************************************************
 * Class Definitions
 ******************************************************************************/
template<typename TLOS>
class mlos_perception_subsystem : public rlos_perception_subsystem<TLOS> {
 public:
  mlos_perception_subsystem(
      const cspconfig::rlos_config* const config,
      std::unique_ptr<base_memory_model> model)
      : rlos_perception_subsystem<TLOS>(config),
        m_model(std::move(model)) {}

  ~mlos_perception_subsystem(void) override = default;

  const base_memory_model* model(void) const { return m_model.get(); }
  base_memory_model* model(void) { return m_model.get(); }

 protected:
  void model(std::unique_ptr<base_memory_model> model) {
    m_model = std::move(model);
  }

 private:
  /* clang-format off */
  std::unique_ptr<base_memory_model> m_model{nullptr};
  /* clang-format on */
};

} /* namespace cosm::subsystem::perception */