raw_publisher.h
Go to the documentation of this file.
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 * 
00004 *  Copyright (c) 2009, Willow Garage, Inc.
00005 *  All rights reserved.
00006 * 
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 * 
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the Willow Garage nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 * 
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
00034 
00035 #ifndef IMAGE_TRANSPORT_RAW_PUBLISHER_H
00036 #define IMAGE_TRANSPORT_RAW_PUBLISHER_H
00037 
00038 #include "image_transport/simple_publisher_plugin.h"
00039 
00040 namespace image_transport {
00041 
00048 class RawPublisher : public SimplePublisherPlugin<sensor_msgs::Image>
00049 {
00050 public:
00051   virtual ~RawPublisher() {}
00052 
00053   virtual std::string getTransportName() const
00054   {
00055     return "raw";
00056   }
00057 
00058   // Override the default implementation because publishing the message pointer allows
00059   // the no-copy intraprocess optimization.
00060   virtual void publish(const sensor_msgs::ImageConstPtr& message) const
00061   {
00062     getPublisher().publish(message);
00063   }
00064 
00065   // Override the default implementation to not copy data to a sensor_msgs::Image first
00066   virtual void publish(const sensor_msgs::Image& message, const uint8_t* data) const;
00067 
00068 protected:
00069   virtual void publish(const sensor_msgs::Image& message, const PublishFn& publish_fn) const
00070   {
00071     publish_fn(message);
00072   }
00073 
00074   virtual std::string getTopicToAdvertise(const std::string& base_topic) const
00075   {
00076     return base_topic;
00077   }
00078 };
00079 
00080 } //namespace image_transport
00081 
00082 #endif


image_transport
Author(s): Patrick Mihelich
autogenerated on Thu Aug 27 2015 13:30:17