00001 /*************************************************************************** 00002 tag: Ruben Smits Tue Nov 16 09:18:49 CET 2010 rtt_rostopic.h 00003 00004 rtt_rostopic.h - description 00005 ------------------- 00006 begin : Tue November 16 2010 00007 copyright : (C) 2010 Ruben Smits 00008 email : first.last@mech.kuleuven.be 00009 00010 *************************************************************************** 00011 * This library is free software; you can redistribute it and/or * 00012 * modify it under the terms of the GNU Lesser General Public * 00013 * License as published by the Free Software Foundation; either * 00014 * version 2.1 of the License, or (at your option) any later version. * 00015 * * 00016 * This library is distributed in the hope that it will be useful, * 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * 00019 * Lesser General Public License for more details. * 00020 * * 00021 * You should have received a copy of the GNU Lesser General Public * 00022 * License along with this library; if not, write to the Free Software * 00023 * Foundation, Inc., 59 Temple Place, * 00024 * Suite 330, Boston, MA 02111-1307 USA * 00025 * * 00026 ***************************************************************************/ 00027 00028 #ifndef __RTT_ROSCOMM_RTT_ROSTOPIC_H 00029 #define __RTT_ROSCOMM_RTT_ROSTOPIC_H 00030 00031 #include <rtt/RTT.hpp> 00032 00033 #define ORO_ROS_PROTOCOL_ID 3 00034 00035 namespace rtt_roscomm { 00037 static const int protocol_id = 3; 00038 00043 RTT::ConnPolicy topic(const std::string& name); 00044 00049 RTT::ConnPolicy topicLatched(const std::string& name); 00050 00056 RTT::ConnPolicy topicBuffer(const std::string& name, int size); 00057 00064 RTT::ConnPolicy topicUnbuffered(const std::string& name); 00065 } 00066 00067 #endif // ifndef __RTT_ROSCOMM_RTT_ROSTOPIC_H