image_transport::SimpleSubscriberPlugin< M > Class Template Reference

Base class to simplify implementing most plugins to Subscriber. More...

#include <simple_subscriber_plugin.h>

Inheritance diagram for image_transport::SimpleSubscriberPlugin< M >:

Classes
struct	SimpleSubscriberPluginImpl
Public Member Functions
virtual uint32_t	getNumPublishers () const
	Returns the number of publishers this subscriber is connected to.
virtual std::string	getTopic () const
	Get the transport-specific communication topic.
virtual void	shutdown ()
	Unsubscribe the callback associated with this SubscriberPlugin.
virtual	~SimpleSubscriberPlugin ()
Protected Member Functions
virtual std::string	getTopicToSubscribe (const std::string &base_topic) const
	Return the communication topic name for a given base topic.
virtual void	internalCallback (const typename M::ConstPtr &message, const Callback &user_cb)=0
	Process a message. Must be implemented by the subclass.
const ros::NodeHandle &	nh () const
	Returns the ros::NodeHandle to be used for parameter lookup.
virtual void	subscribeImpl (ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size, const Callback &callback, const ros::VoidPtr &tracked_object, const TransportHints &transport_hints)
	Subscribe to an image transport topic. Must be implemented by the subclass.
Private Attributes
boost::scoped_ptr < SimpleSubscriberPluginImpl >	simple_impl_

Detailed Description

template<class M>
class image_transport::SimpleSubscriberPlugin< M >

Base class to simplify implementing most plugins to Subscriber.

The base class simplifies implementing a SubscriberPlugin in the common case that all communication with the matching PublisherPlugin happens over a single ROS topic using a transport-specific message type. SimpleSubscriberPlugin is templated on the transport-specific message type.

A subclass need implement only two methods:

getTransportName() from SubscriberPlugin
internalCallback() - processes a message and invoked the user Image callback if appropriate.

For access to the parameter server and name remappings, use nh().

getTopicToSubscribe() controls the name of the internal communication topic. It defaults to <base topic>/<transport name>.

Definition at line 28 of file simple_subscriber_plugin.h.

Constructor & Destructor Documentation

template<class M>

virtual image_transport::SimpleSubscriberPlugin< M >::~SimpleSubscriberPlugin ( ) [inline, virtual]

Definition at line 31 of file simple_subscriber_plugin.h.

Member Function Documentation

template<class M>

virtual uint32_t image_transport::SimpleSubscriberPlugin< M >::getNumPublishers ( ) const [inline, virtual]

Returns the number of publishers this subscriber is connected to.

Implements image_transport::SubscriberPlugin.

Definition at line 39 of file simple_subscriber_plugin.h.

template<class M>

virtual std::string image_transport::SimpleSubscriberPlugin< M >::getTopic ( ) const [inline, virtual]

Get the transport-specific communication topic.

Implements image_transport::SubscriberPlugin.

Definition at line 33 of file simple_subscriber_plugin.h.

template<class M>

virtual std::string image_transport::SimpleSubscriberPlugin< M >::getTopicToSubscribe ( const std::string & base_topic ) const [inline, protected, virtual]

Return the communication topic name for a given base topic.

Defaults to <base topic>/<transport name>.

Reimplemented in image_transport::RawSubscriber.

Definition at line 64 of file simple_subscriber_plugin.h.

template<class M>

virtual void image_transport::SimpleSubscriberPlugin< M >::internalCallback	(	const typename M::ConstPtr &	message,
		const Callback &	user_cb
	)			`[protected, pure virtual]`

Process a message. Must be implemented by the subclass.

Parameters:

	message	A message from the PublisherPlugin.
	user_cb	The user Image callback to invoke, if appropriate.

template<class M>

const ros::NodeHandle& image_transport::SimpleSubscriberPlugin< M >::nh ( ) const [inline, protected]

Returns the ros::NodeHandle to be used for parameter lookup.

Definition at line 85 of file simple_subscriber_plugin.h.

template<class M>

virtual void image_transport::SimpleSubscriberPlugin< M >::shutdown ( ) [inline, virtual]

Unsubscribe the callback associated with this SubscriberPlugin.

Implements image_transport::SubscriberPlugin.

Definition at line 45 of file simple_subscriber_plugin.h.

template<class M>

virtual void image_transport::SimpleSubscriberPlugin< M >::subscribeImpl	(	ros::NodeHandle &	nh,
		const std::string &	base_topic,
		uint32_t	queue_size,
		const Callback &	callback,
		const ros::VoidPtr &	tracked_object,
		const TransportHints &	transport_hints
	)			`[inline, protected, virtual]`