LaserPublisher.h
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00001 /*
00002  * Copyright (c) 2013, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 /* 
00031  * Author: Chad Rockey
00032  */
00033 
00034 #ifndef IMAGE_PROC_LASER_PUBLISHER_H
00035 #define IMAGE_PROC_LASER_PUBLISHER_H
00036 
00037 #include <ros/ros.h>
00038 
00039 #include <sensor_msgs/LaserScan.h>
00040 #include <sensor_msgs/MultiEchoLaserScan.h>
00041 #include <sensor_msgs/LaserEcho.h>
00042 
00043 #include <laser_proc/LaserProc.h>
00044 
00045 #include <vector>
00046 #include <algorithm>
00047 #include <limits.h>
00048 #include <stdexcept>
00049 #include <sstream>
00050 
00051 namespace laser_proc
00052 {
00053 
00054   class LaserTransport;
00055 
00056   class LaserPublisher
00057   {
00058   public:
00059     LaserPublisher() {}
00060 
00067     uint32_t getNumSubscribers() const;
00068 
00072     std::vector<std::string> getTopics() const;
00073 
00077     void publish(const sensor_msgs::MultiEchoLaserScan& msg) const;
00078 
00082     void publish(const sensor_msgs::MultiEchoLaserScanConstPtr& msg) const;
00083 
00087     void shutdown();
00088 
00089     operator void*() const;
00090     bool operator< (const LaserPublisher& rhs) const { return impl_ <  rhs.impl_; }
00091     bool operator!=(const LaserPublisher& rhs) const { return impl_ != rhs.impl_; }
00092     bool operator==(const LaserPublisher& rhs) const { return impl_ == rhs.impl_; }
00093 
00094   private:
00095     LaserPublisher(ros::NodeHandle& nh, uint32_t queue_size,
00096                     const ros::SubscriberStatusCallback& connect_cb,
00097                     const ros::SubscriberStatusCallback& disconnect_cb,
00098                     const ros::VoidPtr& tracked_object, bool latch, bool publish_echoes = true);
00099     
00100     struct Impl;
00101     typedef boost::shared_ptr<Impl> ImplPtr;
00102     typedef boost::weak_ptr<Impl> ImplWPtr;
00103     
00104     ImplPtr impl_;
00105 
00106     friend class LaserTransport;
00107   };
00108   
00109 }; // laser_proc
00110 
00111 #endif


laser_proc
Author(s): Chad Rockey
autogenerated on Sat Jun 8 2019 20:44:50