publisher.h

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#ifndef IMAGE_TRANSPORT_PUBLISHER_H
#define IMAGE_TRANSPORT_PUBLISHER_H

#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include "image_transport/single_subscriber_publisher.h"
#include "image_transport/exception.h"
#include "image_transport/loader_fwds.h"

namespace image_transport {

class Publisher
{
public:
  Publisher() {}

  uint32_t getNumSubscribers() const;

  std::string getTopic() const;

  void publish(const sensor_msgs::Image& message) const;

  void publish(const sensor_msgs::ImageConstPtr& message) const;

  void shutdown();

  operator void*() const;
  bool operator< (const Publisher& rhs) const { return impl_ <  rhs.impl_; }
  bool operator!=(const Publisher& rhs) const { return impl_ != rhs.impl_; }
  bool operator==(const Publisher& rhs) const { return impl_ == rhs.impl_; }

private:
  Publisher(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
            const SubscriberStatusCallback& connect_cb,
            const SubscriberStatusCallback& disconnect_cb,
            const ros::VoidPtr& tracked_object, bool latch,
            const PubLoaderPtr& loader);

  struct Impl;
  typedef boost::shared_ptr<Impl> ImplPtr;
  typedef boost::weak_ptr<Impl> ImplWPtr;
  
  ImplPtr impl_;

  static void weakSubscriberCb(const ImplWPtr& impl_wptr,
                               const SingleSubscriberPublisher& plugin_pub,
                               const SubscriberStatusCallback& user_cb);
  
  SubscriberStatusCallback rebindCB(const SubscriberStatusCallback& user_cb);
  
  friend class ImageTransport;
};

} //namespace image_transport

#endif