00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #ifndef IMAGE_TRANSPORT_TRANSPORT_HINTS_H 00036 #define IMAGE_TRANSPORT_TRANSPORT_HINTS_H 00037 00038 #include <ros/ros.h> 00039 00040 namespace image_transport { 00041 00045 class TransportHints 00046 { 00047 public: 00062 TransportHints(const std::string& default_transport = "raw", 00063 const ros::TransportHints& ros_hints = ros::TransportHints(), 00064 const ros::NodeHandle& parameter_nh = ros::NodeHandle("~"), 00065 const std::string& parameter_name = "image_transport") 00066 : ros_hints_(ros_hints), parameter_nh_(parameter_nh) 00067 { 00068 parameter_nh_.param(parameter_name, transport_, default_transport); 00069 } 00070 00071 const std::string& getTransport() const 00072 { 00073 return transport_; 00074 } 00075 00076 const ros::TransportHints& getRosHints() const 00077 { 00078 return ros_hints_; 00079 } 00080 00081 const ros::NodeHandle& getParameterNH() const 00082 { 00083 return parameter_nh_; 00084 } 00085 00086 private: 00087 std::string transport_; 00088 ros::TransportHints ros_hints_; 00089 ros::NodeHandle parameter_nh_; 00090 }; 00091 00092 } //namespace image_transport 00093 00094 #endif