pass_through.h
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00034 
00035 #ifndef MESSAGE_FILTERS_PASSTHROUGH_H
00036 #define MESSAGE_FILTERS_PASSTHROUGH_H
00037 
00038 #include "simple_filter.h"
00039 
00040 #include <vector>
00041 
00042 namespace message_filters
00043 {
00047 template<typename M>
00048 class PassThrough : public SimpleFilter<M>
00049 {
00050 public:
00051   typedef boost::shared_ptr<M const> MConstPtr;
00052   typedef ros::MessageEvent<M const> EventType;
00053 
00054   PassThrough()
00055   {
00056   }
00057 
00058   template<typename F>
00059   PassThrough(F& f)
00060   {
00061     connectInput(f);
00062   }
00063 
00064   template<class F>
00065   void connectInput(F& f)
00066   {
00067     incoming_connection_.disconnect();
00068     incoming_connection_ = f.registerCallback(typename SimpleFilter<M>::EventCallback(boost::bind(&PassThrough::cb, this, _1)));
00069   }
00070 
00071   void add(const MConstPtr& msg)
00072   {
00073     add(EventType(msg));
00074   }
00075 
00076   void add(const EventType& evt)
00077   {
00078     this->signalMessage(evt);
00079   }
00080 
00081 private:
00082   void cb(const EventType& evt)
00083   {
00084     add(evt);
00085   }
00086 
00087   Connection incoming_connection_;
00088 };
00089 
00090 } // namespace message_filters
00091 
00092 #endif // MESSAGE_FILTERS_PASSTHROUGH_H
00093 


message_filters
Author(s): Josh Faust, Vijay Pradeep
autogenerated on Mon Oct 6 2014 11:47:35