publisher.h
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00001 //=================================================================================================
00002 // Copyright (c) 2012, Johannes Meyer, TU Darmstadt
00003 // All rights reserved.
00004 
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Flight Systems and Automatic Control group,
00013 //       TU Darmstadt, nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //=================================================================================================
00028 
00029 #ifndef ROSMATLAB_PUBLISHER_H
00030 #define ROSMATLAB_PUBLISHER_H
00031 
00032 #include <rosmatlab/object.h>
00033 #include <ros/ros.h>
00034 #include <ros/callback_queue.h>
00035 
00036 #include <introspection/forwards.h>
00037 
00038 namespace rosmatlab {
00039 
00040 using cpp_introspection::VoidPtr;
00041 using cpp_introspection::VoidConstPtr;
00042 using cpp_introspection::MessagePtr;
00043 
00044 class Publisher : public ros::Publisher, public Object<Publisher>
00045 {
00046 public:
00047   Publisher();
00048   Publisher(int nrhs, const mxArray *prhs[]);
00049   ~Publisher();
00050 
00051   using ros::Publisher::operator=;
00052   mxArray *advertise(int nrhs, const mxArray *prhs[]);
00053 
00054   void publish(int nrhs, const mxArray *prhs[]);
00055 
00056   mxArray *getTopic() const;
00057   mxArray *getDataType() const;
00058   mxArray *getMD5Sum() const;
00059 
00060   mxArray *getNumSubscribers() const;
00061   mxArray *isLatched() const;
00062 
00063 private:
00064   ros::NodeHandle node_handle_;
00065   ros::AdvertiseOptions options_;
00066 
00067   cpp_introspection::MessagePtr introspection_;
00068 };
00069 
00070 } // namespace rosmatlab
00071 
00072 #endif // ROSMATLAB_PUBLISHER_H


rosmatlab
Author(s): Johannes Meyer
autogenerated on Fri Jul 25 2014 06:08:36