single_subscriber_publisher.h
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34 
35 #ifndef IMAGE_TRANSPORT_SINGLE_SUBSCRIBER_PUBLISHER
36 #define IMAGE_TRANSPORT_SINGLE_SUBSCRIBER_PUBLISHER
37 
38 #include <boost/noncopyable.hpp>
39 #include <boost/function.hpp>
40 #include <sensor_msgs/Image.h>
41 #include "exports.h"
42 
43 namespace image_transport {
44 
49 class IMAGE_TRANSPORT_DECL SingleSubscriberPublisher : boost::noncopyable
50 {
51 public:
52  typedef boost::function<uint32_t()> GetNumSubscribersFn;
53  typedef boost::function<void(const sensor_msgs::Image&)> PublishFn;
54 
55  SingleSubscriberPublisher(const std::string& caller_id, const std::string& topic,
56  const GetNumSubscribersFn& num_subscribers_fn,
57  const PublishFn& publish_fn);
58 
59  std::string getSubscriberName() const;
60 
61  std::string getTopic() const;
62 
63  uint32_t getNumSubscribers() const;
64 
65  void publish(const sensor_msgs::Image& message) const;
66  void publish(const sensor_msgs::ImageConstPtr& message) const;
67 
68 private:
69  std::string caller_id_;
70  std::string topic_;
71  GetNumSubscribersFn num_subscribers_fn_;
72  PublishFn publish_fn_;
73 
74  friend class Publisher; // to get publish_fn_ directly
75 };
76 
77 typedef boost::function<void(const SingleSubscriberPublisher&)> SubscriberStatusCallback;
78 
79 } //namespace image_transport
80 
81 #endif
exports.h
image_transport
Definition: camera_common.h:41
image_transport::SubscriberStatusCallback
boost::function< void(const SingleSubscriberPublisher &)> SubscriberStatusCallback
Definition: single_subscriber_publisher.h:109
IMAGE_TRANSPORT_DECL
#define IMAGE_TRANSPORT_DECL
Definition: exports.h:15


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