raw_publisher.h
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00034 
00035 #ifndef IMAGE_TRANSPORT_RAW_PUBLISHER_H
00036 #define IMAGE_TRANSPORT_RAW_PUBLISHER_H
00037 
00038 #include "image_transport/simple_publisher_plugin.h"
00039 
00040 namespace image_transport {
00041 
00048 class RawPublisher : public SimplePublisherPlugin<sensor_msgs::Image>
00049 {
00050 public:
00051   virtual ~RawPublisher() {}
00052 
00053   virtual std::string getTransportName() const
00054   {
00055     return "raw";
00056   }
00057 
00058   // Override the default implementation because publishing the message pointer allows
00059   // the no-copy intraprocess optimization.
00060   virtual void publish(const sensor_msgs::ImageConstPtr& message) const
00061   {
00062     getPublisher().publish(message);
00063   }
00064 
00065   // Override the default implementation to not copy data to a sensor_msgs::Image first
00066   virtual void publish(const sensor_msgs::Image& message, const uint8_t* data) const;
00067 
00068 protected:
00069   virtual void publish(const sensor_msgs::Image& message, const PublishFn& publish_fn) const
00070   {
00071     publish_fn(message);
00072   }
00073 
00074   virtual std::string getTopicToAdvertise(const std::string& base_topic) const
00075   {
00076     return base_topic;
00077   }
00078 };
00079 
00080 } //namespace image_transport
00081 
00082 #endif


image_transport
Author(s): Patrick Mihelich
autogenerated on Tue Jun 6 2017 02:33:36