Program Listing for File zstd_subscriber.hpp
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/*
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#ifndef ZSTD_POINT_CLOUD_TRANSPORT__ZSTD_SUBSCRIBER_HPP_
#define ZSTD_POINT_CLOUD_TRANSPORT__ZSTD_SUBSCRIBER_HPP_
#include <zstd.h>
#include <string>
#include <point_cloud_interfaces/msg/compressed_point_cloud2.hpp>
#include <point_cloud_transport/simple_subscriber_plugin.hpp>
#include <point_cloud_transport/transport_hints.hpp>
namespace zstd_point_cloud_transport
{
class ZstdSubscriber
: public point_cloud_transport::SimpleSubscriberPlugin<
point_cloud_interfaces::msg::CompressedPointCloud2>
{
public:
ZstdSubscriber();
std::string getTransportName() const override;
void declareParameters() override;
std::string getDataType() const override;
DecodeResult decodeTyped(const point_cloud_interfaces::msg::CompressedPointCloud2 & compressed)
const override;
private:
ZSTD_DCtx * zstd_context_{nullptr};
};
} // namespace zstd_point_cloud_transport
#endif // ZSTD_POINT_CLOUD_TRANSPORT__ZSTD_SUBSCRIBER_HPP_