publisher.h
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34 
35 #ifndef IMAGE_TRANSPORT_PUBLISHER_H
36 #define IMAGE_TRANSPORT_PUBLISHER_H
37 
38 #include <ros/ros.h>
39 #include <sensor_msgs/Image.h>
43 #include "exports.h"
44 
45 namespace image_transport {
46 
64 class IMAGE_TRANSPORT_DECL Publisher
65 {
66 public:
67  Publisher() {}
68 
75  uint32_t getNumSubscribers() const;
76 
80  std::string getTopic() const;
81 
85  void publish(const sensor_msgs::Image& message) const;
86 
90  void publish(const sensor_msgs::ImageConstPtr& message) const;
91 
95  void shutdown();
96 
97  operator void*() const;
98  bool operator< (const Publisher& rhs) const { return impl_ < rhs.impl_; }
99  bool operator!=(const Publisher& rhs) const { return impl_ != rhs.impl_; }
100  bool operator==(const Publisher& rhs) const { return impl_ == rhs.impl_; }
101 
102 private:
103  Publisher(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
104  const SubscriberStatusCallback& connect_cb,
105  const SubscriberStatusCallback& disconnect_cb,
106  const ros::VoidPtr& tracked_object, bool latch,
107  const PubLoaderPtr& loader);
108 
109  struct Impl;
110  typedef boost::shared_ptr<Impl> ImplPtr;
111  typedef boost::weak_ptr<Impl> ImplWPtr;
112 
113  ImplPtr impl_;
114 
115  static void weakSubscriberCb(const ImplWPtr& impl_wptr,
116  const SingleSubscriberPublisher& plugin_pub,
117  const SubscriberStatusCallback& user_cb);
118 
119  SubscriberStatusCallback rebindCB(const SubscriberStatusCallback& user_cb);
120 
121  friend class ImageTransport;
122 };
123 
124 } //namespace image_transport
125 
126 #endif
single_subscriber_publisher.h
boost::shared_ptr< void >
image_transport::Publisher
Manages advertisements of multiple transport options on an Image topic.
Definition: publisher.h:96
ros.h
SubscriberStatusCallback
boost::function< void(const SingleSubscriberPublisher &)> SubscriberStatusCallback
loader_fwds.h
shutdown
ROSCONSOLE_DECL void shutdown()
image_transport::PubLoaderPtr
boost::shared_ptr< PubLoader > PubLoaderPtr
Definition: loader_fwds.h:50
operator==
bool operator==(const in6_addr a, const in6_addr b)
image_transport::Publisher::impl_
ImplPtr impl_
Definition: publisher.h:177
exports.h
image_transport
Definition: camera_common.h:41
exception.h
IMAGE_TRANSPORT_DECL
#define IMAGE_TRANSPORT_DECL
Definition: exports.h:15
ros::NodeHandle


image_transport
Author(s): Patrick Mihelich
autogenerated on Sun Apr 5 2020 03:15:28