Program Listing for File zlib_subscriber.hpp

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// Copyright (c) 2023, Open Source Robotics Foundation, Inc.
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#ifndef ZLIB_POINT_CLOUD_TRANSPORT__ZLIB_SUBSCRIBER_HPP_
#define ZLIB_POINT_CLOUD_TRANSPORT__ZLIB_SUBSCRIBER_HPP_

#include <string>

#include <point_cloud_interfaces/msg/compressed_point_cloud2.hpp>

#include <point_cloud_transport/simple_subscriber_plugin.hpp>
#include <point_cloud_transport/transport_hints.hpp>

namespace zlib_point_cloud_transport
{

class ZlibSubscriber
  : public point_cloud_transport::SimpleSubscriberPlugin<
    point_cloud_interfaces::msg::CompressedPointCloud2>
{
public:
  std::string getTransportName() const override;

  void declareParameters() override;

  std::string getDataType() const override
  {
    return "point_cloud_interfaces/msg/CompressedPointCloud2";
  }

  DecodeResult decodeTyped(const point_cloud_interfaces::msg::CompressedPointCloud2 & compressed)
  const override;
};
}  // namespace zlib_point_cloud_transport

#endif  // ZLIB_POINT_CLOUD_TRANSPORT__ZLIB_SUBSCRIBER_HPP_