Base class to simplify implementing most plugins to Subscriber. More...
#include <simple_subscriber_plugin.h>
Classes | |
| struct | SimpleSubscriberPluginImpl |
Public Member Functions | |
| virtual uint32_t | getNumPublishers () const |
| Returns the number of publishers this subscriber is connected to. | |
| virtual std::string | getTopic () const |
| Get the transport-specific communication topic. | |
| virtual void | shutdown () |
| Unsubscribe the callback associated with this SubscriberPlugin. | |
| virtual | ~SimpleSubscriberPlugin () |
Protected Member Functions | |
| virtual std::string | getTopicToSubscribe (const std::string &base_topic) const |
| Return the communication topic name for a given base topic. | |
| virtual void | internalCallback (const typename M::ConstPtr &message, const Callback &user_cb)=0 |
| Process a message. Must be implemented by the subclass. | |
| const ros::NodeHandle & | nh () const |
| Returns the ros::NodeHandle to be used for parameter lookup. | |
| virtual void | subscribeImpl (ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size, const Callback &callback, const ros::VoidPtr &tracked_object, const TransportHints &transport_hints) |
| Subscribe to an image transport topic. Must be implemented by the subclass. | |
Private Attributes | |
| boost::scoped_ptr < SimpleSubscriberPluginImpl > | simple_impl_ |
Detailed Description
template<class M>
class image_transport::SimpleSubscriberPlugin< M >
Base class to simplify implementing most plugins to Subscriber.
The base class simplifies implementing a SubscriberPlugin in the common case that all communication with the matching PublisherPlugin happens over a single ROS topic using a transport-specific message type. SimpleSubscriberPlugin is templated on the transport-specific message type.
A subclass need implement only two methods:
- getTransportName() from SubscriberPlugin
- internalCallback() - processes a message and invoked the user Image callback if appropriate.
For access to the parameter server and name remappings, use nh().
getTopicToSubscribe() controls the name of the internal communication topic. It defaults to <base topic>/<transport name>.
Definition at line 62 of file simple_subscriber_plugin.h.
Constructor & Destructor Documentation
| virtual image_transport::SimpleSubscriberPlugin< M >::~SimpleSubscriberPlugin | ( | ) | [inline, virtual] |
Definition at line 65 of file simple_subscriber_plugin.h.
Member Function Documentation
| virtual uint32_t image_transport::SimpleSubscriberPlugin< M >::getNumPublishers | ( | ) | const [inline, virtual] |
Returns the number of publishers this subscriber is connected to.
Implements image_transport::SubscriberPlugin.
Definition at line 73 of file simple_subscriber_plugin.h.
| virtual std::string image_transport::SimpleSubscriberPlugin< M >::getTopic | ( | ) | const [inline, virtual] |
Get the transport-specific communication topic.
Implements image_transport::SubscriberPlugin.
Definition at line 67 of file simple_subscriber_plugin.h.
| virtual std::string image_transport::SimpleSubscriberPlugin< M >::getTopicToSubscribe | ( | const std::string & | base_topic | ) | const [inline, protected, virtual] |
Return the communication topic name for a given base topic.
Defaults to <base topic>/<transport name>.
Reimplemented in image_transport::RawSubscriber.
Definition at line 98 of file simple_subscriber_plugin.h.
| virtual void image_transport::SimpleSubscriberPlugin< M >::internalCallback | ( | const typename M::ConstPtr & | message, |
| const Callback & | user_cb | ||
| ) | [protected, pure virtual] |
Process a message. Must be implemented by the subclass.
- Parameters:
-
message A message from the PublisherPlugin. user_cb The user Image callback to invoke, if appropriate.
| const ros::NodeHandle& image_transport::SimpleSubscriberPlugin< M >::nh | ( | ) | const [inline, protected] |
Returns the ros::NodeHandle to be used for parameter lookup.
Definition at line 119 of file simple_subscriber_plugin.h.
| virtual void image_transport::SimpleSubscriberPlugin< M >::shutdown | ( | ) | [inline, virtual] |
Unsubscribe the callback associated with this SubscriberPlugin.
Implements image_transport::SubscriberPlugin.
Definition at line 79 of file simple_subscriber_plugin.h.
| virtual void image_transport::SimpleSubscriberPlugin< M >::subscribeImpl | ( | ros::NodeHandle & | nh, |
| const std::string & | base_topic, | ||
| uint32_t | queue_size, | ||
| const Callback & | callback, | ||
| const ros::VoidPtr & | tracked_object, | ||
| const TransportHints & | transport_hints | ||
| ) | [inline, protected, virtual] |
Subscribe to an image transport topic. Must be implemented by the subclass.
Implements image_transport::SubscriberPlugin.
Definition at line 103 of file simple_subscriber_plugin.h.
Member Data Documentation
boost::scoped_ptr<SimpleSubscriberPluginImpl> image_transport::SimpleSubscriberPlugin< M >::simple_impl_ [private] |
Definition at line 136 of file simple_subscriber_plugin.h.
The documentation for this class was generated from the following file: