Program Listing for File subscriber.hpp
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// Copyright (c) 2023, Czech Technical University in Prague
// Copyright (c) 2019, paplhjak
// Copyright (c) 2009, Willow Garage, Inc.
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#ifndef POINT_CLOUD_TRANSPORT__SUBSCRIBER_HPP_
#define POINT_CLOUD_TRANSPORT__SUBSCRIBER_HPP_
#include <functional>
#include <memory>
#include <string>
#include "rclcpp/node.hpp"
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <point_cloud_transport/loader_fwds.hpp>
#include <point_cloud_transport/transport_hints.hpp>
#include "point_cloud_transport/visibility_control.hpp"
namespace point_cloud_transport
{
class Subscriber
{
public:
typedef std::function<void (const sensor_msgs::msg::PointCloud2::ConstSharedPtr &)> Callback;
POINT_CLOUD_TRANSPORT_PUBLIC
Subscriber() = default;
POINT_CLOUD_TRANSPORT_PUBLIC
Subscriber(
std::shared_ptr<rclcpp::Node> node,
const std::string & base_topic,
const Callback & callback,
SubLoaderPtr loader,
const std::string & transport,
rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions());
POINT_CLOUD_TRANSPORT_PUBLIC
std::string getTopic() const;
POINT_CLOUD_TRANSPORT_PUBLIC
uint32_t getNumPublishers() const;
POINT_CLOUD_TRANSPORT_PUBLIC
std::string getTransport() const;
POINT_CLOUD_TRANSPORT_PUBLIC
void shutdown();
operator void *() const;
POINT_CLOUD_TRANSPORT_PUBLIC
bool operator<(const point_cloud_transport::Subscriber & rhs) const
{
return impl_ < rhs.impl_;
}
POINT_CLOUD_TRANSPORT_PUBLIC
bool operator!=(const point_cloud_transport::Subscriber & rhs) const
{
return impl_ != rhs.impl_;
}
POINT_CLOUD_TRANSPORT_PUBLIC
bool operator==(const point_cloud_transport::Subscriber & rhs) const
{
return impl_ == rhs.impl_;
}
private:
struct Impl;
std::shared_ptr<Impl> impl_;
friend class PointCloudTransport;
};
} // namespace point_cloud_transport
#endif // POINT_CLOUD_TRANSPORT__SUBSCRIBER_HPP_