subscriber_filter.h
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00034 
00035 #ifndef IMAGE_TRANSPORT_SUBSCRIBER_FILTER_H
00036 #define IMAGE_TRANSPORT_SUBSCRIBER_FILTER_H
00037 
00038 #include <ros/ros.h>
00039 #include <message_filters/simple_filter.h>
00040 
00041 #include "image_transport/image_transport.h"
00042 
00043 namespace image_transport {
00044 
00064 class SubscriberFilter : public message_filters::SimpleFilter<sensor_msgs::Image>
00065 {
00066 public:
00077   SubscriberFilter(ImageTransport& it, const std::string& base_topic, uint32_t queue_size,
00078                    const TransportHints& transport_hints = TransportHints())
00079   {
00080     subscribe(it, base_topic, queue_size, transport_hints);
00081   }
00082 
00086   SubscriberFilter()
00087   {
00088   }
00089 
00090   ~SubscriberFilter()
00091   {
00092     unsubscribe();
00093   }
00094 
00105   void subscribe(ImageTransport& it, const std::string& base_topic, uint32_t queue_size,
00106                  const TransportHints& transport_hints = TransportHints())
00107   {
00108     unsubscribe();
00109 
00110     sub_ = it.subscribe(base_topic, queue_size, boost::bind(&SubscriberFilter::cb, this, _1),
00111                         ros::VoidPtr(), transport_hints);
00112   }
00113 
00117   void unsubscribe()
00118   {
00119     sub_.shutdown();
00120   }
00121 
00122   std::string getTopic() const
00123   {
00124     return sub_.getTopic();
00125   }
00126 
00130   uint32_t getNumPublishers() const
00131   {
00132     return sub_.getNumPublishers();
00133   }
00134 
00138   std::string getTransport() const
00139   {
00140     return sub_.getTransport();
00141   }
00142 
00146   const Subscriber& getSubscriber() const
00147   {
00148     return sub_;
00149   }
00150 
00151 private:
00152 
00153   void cb(const sensor_msgs::ImageConstPtr& m)
00154   {
00155     signalMessage(m);
00156   }
00157 
00158   Subscriber sub_;
00159 };
00160 
00161 }
00162 
00163 #endif


image_transport
Author(s): Patrick Mihelich
autogenerated on Fri Jan 3 2014 11:24:08