subscriber.h

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#ifndef IMAGE_TRANSPORT_SUBSCRIBER_H
#define IMAGE_TRANSPORT_SUBSCRIBER_H

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

namespace image_transport {

class Subscriber
{
public:
  Subscriber() {}

  std::string getTopic() const;

  uint32_t getNumPublishers() const;

  std::string getTransport() const;
  
  void shutdown();

  operator void*() const;
  bool operator< (const Subscriber& rhs) const { return impl_ <  rhs.impl_; }
  bool operator!=(const Subscriber& rhs) const { return impl_ != rhs.impl_; }
  bool operator==(const Subscriber& rhs) const { return impl_ == rhs.impl_; }
  
private:
  Subscriber(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
             const boost::function<void(const sensor_msgs::ImageConstPtr&)>& callback,
             const ros::VoidPtr& tracked_object, const TransportHints& transport_hints,
             const SubLoaderPtr& loader);
  
  struct Impl;
  typedef boost::shared_ptr<Impl> ImplPtr;
  typedef boost::weak_ptr<Impl> ImplWPtr;
  
  ImplPtr impl_;

  friend class ImageTransport;
};

} //namespace image_transport

#endif