map.hpp

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#pragma once
 
#include <map>
#include <memory>
#include <string>
 
#include "adapter_ekf_state_est/eufs.hpp"
#include "adapter_ekf_state_est/fsds.hpp"
#include "adapter_ekf_state_est/pacsim.hpp"
#include "adapter_ekf_state_est/vehicle.hpp"
 
/*
 * Map of adapters, with the key being the type of the adapter and the value being a lambda function
 * that creates the adapter
 */
const std::map<std::string, std::function<std::shared_ptr<Adapter>(std::shared_ptr<SENode>)>,
               std::less<>>
    adapter_map = {{"fsds",
                    [](std::shared_ptr<SENode> se_node) -> std::shared_ptr<Adapter> {
                      return std::make_shared<FsdsAdapter>(se_node);
                    }},
                   {"eufs",
                    [](std::shared_ptr<SENode> se_node) -> std::shared_ptr<Adapter> {
                      return std::make_shared<EufsAdapter>(se_node);
                    }},
                   {"pacsim",
                    [](std::shared_ptr<SENode> se_node) -> std::shared_ptr<Adapter> {
                      return std::make_shared<PacsimAdapter>(se_node);
                    }},
                   {"vehicle", [](std::shared_ptr<SENode> se_node) -> std::shared_ptr<Adapter> {
                      return std::make_shared<VehicleAdapter>(se_node);
                    }}};