subscriber_plugin.h
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00034 
00035 #ifndef IMAGE_TRANSPORT_SUBSCRIBER_PLUGIN_H
00036 #define IMAGE_TRANSPORT_SUBSCRIBER_PLUGIN_H
00037 
00038 #include <ros/ros.h>
00039 #include <sensor_msgs/Image.h>
00040 #include <boost/noncopyable.hpp>
00041 #include "image_transport/transport_hints.h"
00042 
00043 namespace image_transport {
00044 
00048 class SubscriberPlugin : boost::noncopyable
00049 {
00050 public:
00051   typedef boost::function<void(const sensor_msgs::ImageConstPtr&)> Callback;
00052   
00053   virtual ~SubscriberPlugin() {}
00054 
00059   virtual std::string getTransportName() const = 0;
00060 
00064   void subscribe(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
00065                  const Callback& callback, const ros::VoidPtr& tracked_object = ros::VoidPtr(),
00066                  const TransportHints& transport_hints = TransportHints())
00067   {
00068     return subscribeImpl(nh, base_topic, queue_size, callback, tracked_object, transport_hints);
00069   }
00070 
00074   void subscribe(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
00075                  void(*fp)(const sensor_msgs::ImageConstPtr&),
00076                  const TransportHints& transport_hints = TransportHints())
00077   {
00078     return subscribe(nh, base_topic, queue_size,
00079                      boost::function<void(const sensor_msgs::ImageConstPtr&)>(fp),
00080                      ros::VoidPtr(), transport_hints);
00081   }
00082 
00086   template<class T>
00087   void subscribe(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
00088                  void(T::*fp)(const sensor_msgs::ImageConstPtr&), T* obj,
00089                  const TransportHints& transport_hints = TransportHints())
00090   {
00091     return subscribe(nh, base_topic, queue_size, boost::bind(fp, obj, _1), ros::VoidPtr(), transport_hints);
00092   }
00093 
00097   template<class T>
00098   void subscribe(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
00099                  void(T::*fp)(const sensor_msgs::ImageConstPtr&),
00100                  const boost::shared_ptr<T>& obj,
00101                  const TransportHints& transport_hints = TransportHints())
00102   {
00103     return subscribe(nh, base_topic, queue_size, boost::bind(fp, obj.get(), _1), obj, transport_hints);
00104   }
00105 
00109   virtual std::string getTopic() const = 0;
00110 
00114   virtual uint32_t getNumPublishers() const = 0;
00115 
00119   virtual void shutdown() = 0;
00120 
00125   static std::string getLookupName(const std::string& transport_type)
00126   {
00127     return "image_transport/" + transport_type + "_sub";
00128   }
00129 
00130 protected:
00134   virtual void subscribeImpl(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
00135                              const Callback& callback, const ros::VoidPtr& tracked_object,
00136                              const TransportHints& transport_hints) = 0;
00137 };
00138 
00139 } //namespace image_transport
00140 
00141 #endif


image_transport
Author(s): Patrick Mihelich
autogenerated on Thu Jun 6 2019 21:19:55