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#ifndef MESSAGE_FILTERS_TIME_SYNCHRONIZER_H
#define MESSAGE_FILTERS_TIME_SYNCHRONIZER_H

#include <memory>

#include "message_filters/message_event.h"
#include "message_filters/synchronizer.h"
#include "message_filters/sync_policies/exact_time.h"

namespace message_filters
{

template<class M0, class M1, class M2 = NullType, class M3 = NullType, class M4 = NullType,
         class M5 = NullType, class M6 = NullType, class M7 = NullType, class M8 = NullType>
class TimeSynchronizer : public Synchronizer<sync_policies::ExactTime<M0, M1, M2, M3, M4, M5, M6, M7, M8> >
{
public:
  typedef sync_policies::ExactTime<M0, M1, M2, M3, M4, M5, M6, M7, M8> Policy;
  typedef Synchronizer<Policy> Base;
  typedef std::shared_ptr<M0 const> M0ConstPtr;
  typedef std::shared_ptr<M1 const> M1ConstPtr;
  typedef std::shared_ptr<M2 const> M2ConstPtr;
  typedef std::shared_ptr<M3 const> M3ConstPtr;
  typedef std::shared_ptr<M4 const> M4ConstPtr;
  typedef std::shared_ptr<M5 const> M5ConstPtr;
  typedef std::shared_ptr<M6 const> M6ConstPtr;
  typedef std::shared_ptr<M7 const> M7ConstPtr;
  typedef std::shared_ptr<M8 const> M8ConstPtr;

  using Base::add;
  using Base::connectInput;
  using Base::registerCallback;
  using Base::setName;
  using Base::getName;
  using Policy::registerDropCallback;
  typedef typename Base::M0Event M0Event;
  typedef typename Base::M1Event M1Event;
  typedef typename Base::M2Event M2Event;
  typedef typename Base::M3Event M3Event;
  typedef typename Base::M4Event M4Event;
  typedef typename Base::M5Event M5Event;
  typedef typename Base::M6Event M6Event;
  typedef typename Base::M7Event M7Event;
  typedef typename Base::M8Event M8Event;

  template<class F0, class F1>
  TimeSynchronizer(F0& f0, F1& f1, uint32_t queue_size)
  : Base(Policy(queue_size))
  {
    connectInput(f0, f1);
  }

  template<class F0, class F1, class F2>
  TimeSynchronizer(F0& f0, F1& f1, F2& f2, uint32_t queue_size)
  : Base(Policy(queue_size))
  {
    connectInput(f0, f1, f2);
  }

  template<class F0, class F1, class F2, class F3>
  TimeSynchronizer(F0& f0, F1& f1, F2& f2, F3& f3, uint32_t queue_size)
  : Base(Policy(queue_size))
  {
    connectInput(f0, f1, f2, f3);
  }

  template<class F0, class F1, class F2, class F3, class F4>
  TimeSynchronizer(F0& f0, F1& f1, F2& f2, F3& f3, F4& f4, uint32_t queue_size)
  : Base(Policy(queue_size))
  {
    connectInput(f0, f1, f2, f3, f4);
  }

  template<class F0, class F1, class F2, class F3, class F4, class F5>
  TimeSynchronizer(F0& f0, F1& f1, F2& f2, F3& f3, F4& f4, F5& f5, uint32_t queue_size)
  : Base(Policy(queue_size))
  {
    connectInput(f0, f1, f2, f3, f4, f5);
  }

  template<class F0, class F1, class F2, class F3, class F4, class F5, class F6>
  TimeSynchronizer(F0& f0, F1& f1, F2& f2, F3& f3, F4& f4, F5& f5, F6& f6, uint32_t queue_size)
  : Base(Policy(queue_size))
  {
    connectInput(f0, f1, f2, f3, f4, f5, f6);
  }

  template<class F0, class F1, class F2, class F3, class F4, class F5, class F6, class F7>
  TimeSynchronizer(F0& f0, F1& f1, F2& f2, F3& f3, F4& f4, F5& f5, F6& f6, F7& f7, uint32_t queue_size)
  : Base(Policy(queue_size))
  {
    connectInput(f0, f1, f2, f3, f4, f5, f6, f7);
  }

  template<class F0, class F1, class F2, class F3, class F4, class F5, class F6, class F7, class F8>
  TimeSynchronizer(F0& f0, F1& f1, F2& f2, F3& f3, F4& f4, F5& f5, F6& f6, F7& f7, F8& f8, uint32_t queue_size)
  : Base(Policy(queue_size))
  {
    connectInput(f0, f1, f2, f3, f4, f5, f6, f7, f8);
  }

  TimeSynchronizer(uint32_t queue_size)
  : Base(Policy(queue_size))
  {
  }

  // For backwards compatibility
  void add0(const M0ConstPtr& msg)
  {
    this->template add<0>(M0Event(msg));
  }

  void add1(const M1ConstPtr& msg)
  {
    this->template add<1>(M1Event(msg));
  }

  void add2(const M2ConstPtr& msg)
  {
    this->template add<2>(M2Event(msg));
  }

  void add3(const M3ConstPtr& msg)
  {
    this->template add<3>(M3Event(msg));
  }

  void add4(const M4ConstPtr& msg)
  {
    this->template add<4>(M4Event(msg));
  }

  void add5(const M5ConstPtr& msg)
  {
    this->template add<5>(M5Event(msg));
  }

  void add6(const M6ConstPtr& msg)
  {
    this->template add<6>(M6Event(msg));
  }

  void add7(const M7ConstPtr& msg)
  {
    this->template add<7>(M7Event(msg));
  }

  void add8(const M8ConstPtr& msg)
  {
    this->template add<8>(M8Event(msg));
  }
};

}  // namespace message_filters

#endif  // MESSAGE_FILTERS_TIME_SYNCHRONIZER_H