single_subscriber_publisher.h
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00034 
00035 #ifndef IMAGE_TRANSPORT_SINGLE_SUBSCRIBER_PUBLISHER
00036 #define IMAGE_TRANSPORT_SINGLE_SUBSCRIBER_PUBLISHER
00037 
00038 #include <boost/noncopyable.hpp>
00039 #include <boost/function.hpp>
00040 #include <sensor_msgs/Image.h>
00041 
00042 namespace image_transport {
00043 
00048 class SingleSubscriberPublisher : boost::noncopyable
00049 {
00050 public:
00051   typedef boost::function<uint32_t()> GetNumSubscribersFn;
00052   typedef boost::function<void(const sensor_msgs::Image&)> PublishFn;
00053   
00054   SingleSubscriberPublisher(const std::string& caller_id, const std::string& topic,
00055                             const GetNumSubscribersFn& num_subscribers_fn,
00056                             const PublishFn& publish_fn);
00057   
00058   std::string getSubscriberName() const;
00059 
00060   std::string getTopic() const;
00061 
00062   uint32_t getNumSubscribers() const;
00063 
00064   void publish(const sensor_msgs::Image& message) const;
00065   void publish(const sensor_msgs::ImageConstPtr& message) const;
00066 
00067 private:
00068   std::string caller_id_;
00069   std::string topic_;
00070   GetNumSubscribersFn num_subscribers_fn_;
00071   PublishFn publish_fn_;
00072 
00073   friend class Publisher; // to get publish_fn_ directly
00074 };
00075 
00076 typedef boost::function<void(const SingleSubscriberPublisher&)> SubscriberStatusCallback;
00077 
00078 } //namespace image_transport
00079 
00080 #endif


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