single_subscriber_publisher.h
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00001 /*
00002  * Copyright (C) 2009, Willow Garage, Inc.
00003  *
00004  * Redistribution and use in source and binary forms, with or without
00005  * modification, are permitted provided that the following conditions are met:
00006  *   * Redistributions of source code must retain the above copyright notice,
00007  *     this list of conditions and the following disclaimer.
00008  *   * Redistributions in binary form must reproduce the above copyright
00009  *     notice, this list of conditions and the following disclaimer in the
00010  *     documentation and/or other materials provided with the distribution.
00011  *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
00012  *     contributors may be used to endorse or promote products derived from
00013  *     this software without specific prior written permission.
00014  *
00015  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025  * POSSIBILITY OF SUCH DAMAGE.
00026  */
00027 
00028 #ifndef ROSCPP_SINGLE_SUBSCRIBER_PUBLISHER_H
00029 #define ROSCPP_SINGLE_SUBSCRIBER_PUBLISHER_H
00030 
00031 #include "ros/forwards.h"
00032 #include "ros/serialization.h"
00033 #include "common.h"
00034 
00035 #include <boost/utility.hpp>
00036 
00037 namespace ros
00038 {
00039 
00043 class ROSCPP_DECL SingleSubscriberPublisher : public boost::noncopyable
00044 {
00045 public:
00046   SingleSubscriberPublisher(const SubscriberLinkPtr& link);
00047   ~SingleSubscriberPublisher();
00048 
00057   template<class M>
00058   void publish(const boost::shared_ptr<M const>& message) const
00059   {
00060     publish(*message);
00061   }
00062 
00071   template<class M>
00072   void publish(const boost::shared_ptr<M>& message) const
00073   {
00074     publish(*message);
00075   }
00076 
00080   template<class M>
00081   void publish(const M& message) const
00082   {
00083     using namespace serialization;
00084     SerializedMessage m = serializeMessage(message);
00085     publish(m);
00086   }
00087 
00091   std::string getTopic() const;
00092 
00096   std::string getSubscriberName() const;
00097 
00098 private:
00099   void publish(const SerializedMessage& m) const;
00100 
00101   SubscriberLinkPtr link_;
00102 };
00103 
00104 }
00105 
00106 #endif // ROSCPP_PUBLISHER_HANDLE_H
00107 


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Tue Mar 7 2017 04:01:04