.. _program_listing_file__tmp_ws_src_message_filters_include_message_filters_simple_filter.h:

Program Listing for File simple_filter.h
========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_message_filters_include_message_filters_simple_filter.h>` (``/tmp/ws/src/message_filters/include/message_filters/simple_filter.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*********************************************************************
   * Software License Agreement (BSD License)
   *
   *  Copyright (c) 2008, Willow Garage, Inc.
   *  All rights reserved.
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   *
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   *     copyright notice, this list of conditions and the following
   *     disclaimer in the documentation and/or other materials provided
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   *     contributors may be used to endorse or promote products derived
   *     from this software without specific prior written permission.
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   *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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   *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   *  POSSIBILITY OF SUCH DAMAGE.
   *********************************************************************/
   
   #ifndef MESSAGE_FILTERS__SIMPLE_FILTER_H_
   #define MESSAGE_FILTERS__SIMPLE_FILTER_H_
   
   #include <functional>
   #include <memory>
   #include <string>
   
   #include "message_filters/connection.h"
   #include "message_filters/signal1.h"
   #include "message_filters/message_event.h"
   
   namespace message_filters
   {
   
   template<class M>
   class SimpleFilter : public noncopyable
   {
   public:
     typedef std::shared_ptr<M const> MConstPtr;
     typedef std::function<void(const MConstPtr&)> Callback;
     typedef MessageEvent<M const> EventType;
     typedef std::function<void(const EventType&)> EventCallback;
   
     template<typename C>
     Connection registerCallback(const C& callback)
     {
       typename CallbackHelper1<M>::Ptr helper = signal_.addCallback(Callback(callback));
       return Connection(std::bind(&Signal::removeCallback, &signal_, helper));
     }
   
     template<typename P>
     Connection registerCallback(const std::function<void(P)>& callback)
     {
       return Connection(std::bind(&Signal::removeCallback, &signal_, signal_.addCallback(callback)));
     }
   
     template<typename P>
     Connection registerCallback(void(*callback)(P))
     {
       typename CallbackHelper1<M>::Ptr helper = signal_.template addCallback<P>(std::bind(callback, std::placeholders::_1));
       return Connection(std::bind(&Signal::removeCallback, &signal_, helper));
     }
   
     template<typename T, typename P>
     Connection registerCallback(void(T::*callback)(P), T* t)
     {
       typename CallbackHelper1<M>::Ptr helper = signal_.template addCallback<P>(std::bind(callback, t, std::placeholders::_1));
       return Connection(std::bind(&Signal::removeCallback, &signal_, helper));
     }
   
     void setName(const std::string& name) { name_ = name; }
     const std::string& getName() { return name_; }
   
   protected:
     void signalMessage(const MConstPtr& msg)
     {
       MessageEvent<M const> event(msg);
   
       signal_.call(event);
     }
   
     void signalMessage(const MessageEvent<M const>& event)
     {
       signal_.call(event);
     }
   
   private:
     typedef Signal1<M> Signal;
   
     Signal signal_;
   
     std::string name_;
   };
   
   }  // namespace message_filters
   
   #endif  // MESSAGE_FILTERS__SIMPLE_FILTER_H_