raw_publisher.h
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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


image_transport
Author(s): Patrick Mihelich
autogenerated on Mon Oct 6 2014 00:42:37