Program Listing for File transport_hints.hpp

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// Copyright (c) 2023, Czech Technical University in Prague
// Copyright (c) 2019, paplhjak
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#ifndef POINT_CLOUD_TRANSPORT__TRANSPORT_HINTS_HPP_
#define POINT_CLOUD_TRANSPORT__TRANSPORT_HINTS_HPP_

#include <memory>
#include <string>

#include <rclcpp/node.hpp>

#include "point_cloud_transport/visibility_control.hpp"

namespace point_cloud_transport
{

class TransportHints
{
public:
  POINT_CLOUD_TRANSPORT_PUBLIC
  TransportHints(
    const std::shared_ptr<rclcpp::Node> node,
    const std::string & default_transport = "raw",
    const std::string & parameter_name = "point_cloud_transport")
  {
    node->declare_parameter<std::string>(parameter_name, transport_);
    node->get_parameter_or<std::string>(parameter_name, transport_, default_transport);
  }

  POINT_CLOUD_TRANSPORT_PUBLIC
  TransportHints(
    const std::string & transport = "raw")
  : transport_(transport)
  {
  }

  POINT_CLOUD_TRANSPORT_PUBLIC
  const std::string & getTransport() const
  {
    return transport_;
  }

private:
  std::string transport_{"raw"};
};

}  // namespace point_cloud_transport
#endif  // POINT_CLOUD_TRANSPORT__TRANSPORT_HINTS_HPP_