decimated_publisher.h

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#ifndef POINTCLOUD_TRANSPORT_DECIMATED_PUBLISHER_H
#define POINTCLOUD_TRANSPORT_DECIMATED_PUBLISHER_H

#include <message_transport/simple_publisher_plugin.h>
#include <sensor_msgs/PointCloud.h>

namespace decimated_transport {

        class DecimatedPublisher : public message_transport::SimplePublisherPlugin<sensor_msgs::PointCloud,sensor_msgs::PointCloud>
        {
                public:
                        DecimatedPublisher() {decimation=10;}
                        virtual ~DecimatedPublisher() {}

                        virtual std::string getTransportName() const
                        {
                                return "decimated";
                        }

                protected:
                        virtual void publish(const sensor_msgs::PointCloud& pointcloud,
                                        const message_transport::SimplePublisherPlugin<sensor_msgs::PointCloud,sensor_msgs::PointCloud>::PublishFn& publish_fn) const ;

                        mutable unsigned int decimation;
        };

} //namespace decimated_transport

#endif // POINTCLOUD_TRANSPORT_DECIMATED_PUBLISHER_H

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pointcloud_transport
Author(s): Cedric Pradalier
autogenerated on Fri Jan 11 09:39:21 2013