.. _program_listing_file_include_rclcpp_qos_overriding_options.hpp:

Program Listing for File qos_overriding_options.hpp
===================================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_qos_overriding_options.hpp>` (``include/rclcpp/qos_overriding_options.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 RCLCPP__QOS_OVERRIDING_OPTIONS_HPP_
   #define RCLCPP__QOS_OVERRIDING_OPTIONS_HPP_
   
   #include <functional>
   #include <initializer_list>
   #include <ostream>
   #include <string>
   #include <utility>
   #include <vector>
   
   #include "rclcpp/qos.hpp"
   #include "rclcpp/visibility_control.hpp"
   
   #include "rcl_interfaces/msg/set_parameters_result.hpp"
   #include "rmw/qos_policy_kind.h"
   
   namespace rclcpp
   {
   
   enum class RCLCPP_PUBLIC_TYPE QosPolicyKind
   {
     AvoidRosNamespaceConventions = RMW_QOS_POLICY_AVOID_ROS_NAMESPACE_CONVENTIONS,
     Deadline = RMW_QOS_POLICY_DEADLINE,
     Depth = RMW_QOS_POLICY_DEPTH,
     Durability = RMW_QOS_POLICY_DURABILITY,
     History = RMW_QOS_POLICY_HISTORY,
     Lifespan = RMW_QOS_POLICY_LIFESPAN,
     Liveliness = RMW_QOS_POLICY_LIVELINESS,
     LivelinessLeaseDuration = RMW_QOS_POLICY_LIVELINESS_LEASE_DURATION,
     Reliability = RMW_QOS_POLICY_RELIABILITY,
     Invalid = RMW_QOS_POLICY_INVALID,
   };
   
   RCLCPP_PUBLIC
   const char *
   qos_policy_kind_to_cstr(const QosPolicyKind & qpk);
   
   RCLCPP_PUBLIC
   std::ostream &
   operator<<(std::ostream & os, const QosPolicyKind & qpk);
   
   using QosCallbackResult = rcl_interfaces::msg::SetParametersResult;
   using QosCallback = std::function<QosCallbackResult(const rclcpp::QoS &)>;
   
   namespace detail
   {
   // forward declare
   template<typename T>
   class QosParameters;
   }
   
   
   class QosOverridingOptions
   {
   public:
     RCLCPP_PUBLIC
     QosOverridingOptions() = default;
   
   
     RCLCPP_PUBLIC
     QosOverridingOptions(
       std::initializer_list<QosPolicyKind> policy_kinds,
       QosCallback validation_callback = nullptr,
       std::string id = {});
   
     RCLCPP_PUBLIC
     const std::string &
     get_id() const;
   
     RCLCPP_PUBLIC
     const std::vector<QosPolicyKind> &
     get_policy_kinds() const;
   
     RCLCPP_PUBLIC
     const QosCallback &
     get_validation_callback() const;
   
   
     RCLCPP_PUBLIC
     static
     QosOverridingOptions
     with_default_policies(QosCallback validation_callback = nullptr, std::string id = {});
   
   private:
     std::string id_;
     std::vector<QosPolicyKind> policy_kinds_;
     QosCallback validation_callback_;
   };
   
   }  // namespace rclcpp
   
   #endif  // RCLCPP__QOS_OVERRIDING_OPTIONS_HPP_