publisher.h
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34 
35 #ifndef IMAGE_TRANSPORT_PUBLISHER_H
36 #define IMAGE_TRANSPORT_PUBLISHER_H
37 
38 #include <ros/ros.h>
39 #include <sensor_msgs/Image.h>
43 
44 namespace image_transport {
45 
63 class Publisher
64 {
65 public:
66  Publisher() {}
67 
74  uint32_t getNumSubscribers() const;
75 
79  std::string getTopic() const;
80 
84  void publish(const sensor_msgs::Image& message) const;
85 
89  void publish(const sensor_msgs::ImageConstPtr& message) const;
90 
94  void shutdown();
95 
96  operator void*() const;
97  bool operator< (const Publisher& rhs) const { return impl_ < rhs.impl_; }
98  bool operator!=(const Publisher& rhs) const { return impl_ != rhs.impl_; }
99  bool operator==(const Publisher& rhs) const { return impl_ == rhs.impl_; }
100 
101 private:
102  Publisher(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
103  const SubscriberStatusCallback& connect_cb,
104  const SubscriberStatusCallback& disconnect_cb,
105  const ros::VoidPtr& tracked_object, bool latch,
106  const PubLoaderPtr& loader);
107 
108  struct Impl;
110  typedef boost::weak_ptr<Impl> ImplWPtr;
111 
112  ImplPtr impl_;
113 
114  static void weakSubscriberCb(const ImplWPtr& impl_wptr,
115  const SingleSubscriberPublisher& plugin_pub,
116  const SubscriberStatusCallback& user_cb);
117 
119 
120  friend class ImageTransport;
121 };
122 
123 } //namespace image_transport
124 
125 #endif
Manages advertisements of multiple transport options on an Image topic.
Definition: publisher.h:63
bool operator==(const Publisher &rhs) const
Definition: publisher.h:99
static void weakSubscriberCb(const ImplWPtr &impl_wptr, const SingleSubscriberPublisher &plugin_pub, const SubscriberStatusCallback &user_cb)
Definition: publisher.cpp:195
SubscriberStatusCallback rebindCB(const SubscriberStatusCallback &user_cb)
Definition: publisher.cpp:203
boost::weak_ptr< Impl > ImplWPtr
Definition: publisher.h:110
bool operator<(const Publisher &rhs) const
Definition: publisher.h:97
boost::function< void(const SingleSubscriberPublisher &)> SubscriberStatusCallback
uint32_t getNumSubscribers() const
Returns the number of subscribers that are currently connected to this Publisher. ...
Definition: publisher.cpp:144
void shutdown()
Shutdown the advertisements associated with this Publisher.
Definition: publisher.cpp:182
void publish(const sensor_msgs::Image &message) const
Publish an image on the topics associated with this Publisher.
Definition: publisher.cpp:156
boost::shared_ptr< Impl > ImplPtr
Definition: publisher.h:108
Allows publication of an image to a single subscriber. Only available inside subscriber connection ca...
Advertise and subscribe to image topics.
std::string getTopic() const
Returns the base topic of this Publisher.
Definition: publisher.cpp:150
bool operator!=(const Publisher &rhs) const
Definition: publisher.h:98


image_transport
Author(s): Patrick Mihelich
autogenerated on Thu Jun 6 2019 19:22:47