00001 00002 #include <rtt_roscomm/rtt_rostopic.h> 00003 00004 RTT::ConnPolicy rtt_roscomm::topic(const std::string& name) { 00005 RTT::ConnPolicy cp = RTT::ConnPolicy::data(); 00006 cp.transport = protocol_id; 00007 cp.name_id = name; 00008 cp.init=false; 00009 return cp; 00010 } 00011 00017 RTT::ConnPolicy rtt_roscomm::topicBuffer(const std::string& name, int size) { 00018 RTT::ConnPolicy cp = RTT::ConnPolicy::buffer(size); 00019 cp.transport = protocol_id; 00020 cp.name_id = name; 00021 cp.init=false; 00022 return cp; 00023 } 00024 00031 RTT::ConnPolicy rtt_roscomm::topicUnbuffered(const std::string& name) { 00032 RTT::ConnPolicy cp = RTT::ConnPolicy(); 00033 cp.type = RTT::ConnPolicy::UNBUFFERED; 00034 cp.transport = protocol_id; 00035 cp.name_id = name; 00036 cp.init=false; 00037 return cp; 00038 } 00039