image_transport: subscriber.h Source File

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00034 
00035 #ifndef IMAGE_TRANSPORT_SUBSCRIBER_H
00036 #define IMAGE_TRANSPORT_SUBSCRIBER_H
00037 
00038 #include <ros/ros.h>
00039 #include <sensor_msgs/Image.h>
00040 #include "image_transport/transport_hints.h"
00041 #include "image_transport/exception.h"
00042 #include "image_transport/loader_fwds.h"
00043 
00044 namespace image_transport {
00045 
00061 class Subscriber
00062 {
00063 public:
00064   Subscriber() {}
00065 
00072   std::string getTopic() const;
00073 
00077   uint32_t getNumPublishers() const;
00078 
00082   std::string getTransport() const;
00083   
00087   void shutdown();
00088 
00089   operator void*() const;
00090   bool operator< (const Subscriber& rhs) const { return impl_ <  rhs.impl_; }
00091   bool operator!=(const Subscriber& rhs) const { return impl_ != rhs.impl_; }
00092   bool operator==(const Subscriber& rhs) const { return impl_ == rhs.impl_; }
00093   
00094 private:
00095   Subscriber(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
00096              const boost::function<void(const sensor_msgs::ImageConstPtr&)>& callback,
00097              const ros::VoidPtr& tracked_object, const TransportHints& transport_hints,
00098              const SubLoaderPtr& loader);
00099   
00100   struct Impl;
00101   typedef boost::shared_ptr<Impl> ImplPtr;
00102   typedef boost::weak_ptr<Impl> ImplWPtr;
00103   
00104   ImplPtr impl_;
00105 
00106   friend class ImageTransport;
00107 };
00108 
00109 } //namespace image_transport
00110 
00111 #endif