.. _program_listing_file__tmp_ws_src_gazebo_ros_pkgs_gazebo_ros_include_gazebo_ros_qos.hpp:

Program Listing for File qos.hpp
================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_gazebo_ros_pkgs_gazebo_ros_include_gazebo_ros_qos.hpp>` (``/tmp/ws/src/gazebo_ros_pkgs/gazebo_ros/include/gazebo_ros/qos.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2020 Open Source Robotics Foundation, Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef GAZEBO_ROS__QOS_HPP_
   #define GAZEBO_ROS__QOS_HPP_
   
   #include <sdf/sdf.hh>
   
   #include <rclcpp/node_options.hpp>
   #include <rclcpp/qos.hpp>
   
   #include <gazebo_ros/node_visibility_control.h>
   
   #include <map>
   #include <memory>
   #include <stdexcept>
   #include <string>
   
   namespace gazebo_ros
   {
   
   class InvalidQoSException : public std::runtime_error
   {
   public:
     explicit InvalidQoSException(const std::string & msg)
     : std::runtime_error(msg)
     {}
   };
   
   // Forward declare private implementation
   struct QoSPrivate;
   
   
   class GAZEBO_ROS_NODE_PUBLIC_TYPE QoS
   {
   public:
     QoS();
   
   
     QoS(
       sdf::ElementPtr _sdf,
       const std::string node_name,
       const std::string node_namespace,
       const rclcpp::NodeOptions & options);
   
     /*
      * \param[in] topic: Get QoS for publishers on this topic name.
      * \param[in] default_qos: The default quality of service used for settings that have not been
      *   overridden.
      */
     rclcpp::QoS get_publisher_qos(
       const std::string topic, rclcpp::QoS default_qos = rclcpp::QoS(10)) const;
   
     /*
      * \param[in] topic: Get QoS for subscriptions on this topic name.
      * \param[in] default_qos: The default quality of service used for settings that have not been
      *   overridden.
      */
     rclcpp::QoS get_subscription_qos(
       const std::string topic, rclcpp::QoS default_qos = rclcpp::QoS(10)) const;
   
     // need explicit copy constructor due to `std::unique_ptr` `impl_`
     QoS(const QoS & other);
   
     // this is needed due to rule of five
     QoS(QoS && other);
   
     // need explicit copy assignment due to `std::unique_ptr` `impl_`
     QoS & operator=(const QoS & other);
   
     // this is needed due to rule of five
     QoS & operator=(QoS && other);
   
     // this is needed due to rule of five
     ~QoS();
   
   private:
     std::unique_ptr<QoSPrivate> impl_;
   };
   
   }  // namespace gazebo_ros
   #endif  // GAZEBO_ROS__QOS_HPP_