00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #ifndef IMAGE_TRANSPORT_RAW_PUBLISHER_H 00036 #define IMAGE_TRANSPORT_RAW_PUBLISHER_H 00037 00038 #include "image_transport/simple_publisher_plugin.h" 00039 00040 namespace image_transport { 00041 00048 class RawPublisher : public SimplePublisherPlugin<sensor_msgs::Image> 00049 { 00050 public: 00051 virtual ~RawPublisher() {} 00052 00053 virtual std::string getTransportName() const 00054 { 00055 return "raw"; 00056 } 00057 00058 // Override the default implementation because publishing the message pointer allows 00059 // the no-copy intraprocess optimization. 00060 virtual void publish(const sensor_msgs::ImageConstPtr& message) const 00061 { 00062 getPublisher().publish(message); 00063 } 00064 00065 protected: 00066 virtual void publish(const sensor_msgs::Image& message, const PublishFn& publish_fn) const 00067 { 00068 publish_fn(message); 00069 } 00070 00071 virtual std::string getTopicToAdvertise(const std::string& base_topic) const 00072 { 00073 return base_topic; 00074 } 00075 }; 00076 00077 } //namespace image_transport 00078 00079 #endif