null_types.h

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#ifndef MESSAGE_FILTERS_NULL_TYPES_H
#define MESSAGE_FILTERS_NULL_TYPES_H

#include "connection.h"

#include <boost/shared_ptr.hpp>
#include <ros/time.h>

#include <ros/message_traits.h>

namespace message_filters
{

struct NullType
{
};
typedef boost::shared_ptr<NullType const> NullTypeConstPtr;

template<class M>
struct NullFilter
{
  template<typename C>
  Connection registerCallback(const C&)
  {
    return Connection();
  }

  template<typename P>
  Connection registerCallback(const boost::function<void(P)>&)
  {
    return Connection();
  }
};
}

namespace ros
{
namespace message_traits
{
template<>
struct TimeStamp<message_filters::NullType>
{
  static ros::Time value(const message_filters::NullType&)
  {
    return ros::Time();
  }
};
}
}

#endif // MESSAGE_FILTERS_NULL_TYPES_H