relay_nodelet.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2013, Ryohei Ueda and JSK Lab
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/o2r other materials provided
00017  *     with the distribution.
00018  *   * Neither the name of the Willow Garage nor the names of its
00019  *     contributors may be used to endorse or promote products derived
00020  *     from this software without specific prior written permission.
00021  *
00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 
00036 #ifndef RELAY_NODELET_H_
00037 #define RELAY_NODELET_H_
00038 
00039 #include <nodelet/nodelet.h>
00040 #include <topic_tools/shape_shifter.h>
00041 #include <boost/thread.hpp>
00042 #include <boost/thread/mutex.hpp>
00043 
00044 namespace jsk_topic_tools
00045 {
00046   class Relay : public nodelet::Nodelet
00047   {
00048   public:
00049     typedef ros::MessageEvent<topic_tools::ShapeShifter> ShapeShifterEvent;
00050     virtual void onInit();
00051     virtual void inputCallback(const boost::shared_ptr<topic_tools::ShapeShifter const>& msg);
00052   protected:
00053     virtual void connectCb();
00054     virtual void disconnectCb();
00055     boost::mutex mutex_;
00056     ros::Publisher pub_;
00057     ros::Subscriber sub_;
00058     bool advertised_;
00059     bool subscribing_;
00060     ros::NodeHandle pnh_;
00061     ros::TransportHints th_;
00062   };
00063 }
00064 
00065 #endif


jsk_topic_tools
Author(s): Kei Okada , Yusuke Furuta
autogenerated on Sun Jan 25 2015 00:30:41