publisher.h
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00034 
00035 #ifndef IMAGE_TRANSPORT_PUBLISHER_H
00036 #define IMAGE_TRANSPORT_PUBLISHER_H
00037 
00038 #include <ros/ros.h>
00039 #include <sensor_msgs/Image.h>
00040 #include "image_transport/single_subscriber_publisher.h"
00041 #include "image_transport/exception.h"
00042 #include "image_transport/loader_fwds.h"
00043 
00044 namespace image_transport {
00045 
00063 class Publisher
00064 {
00065 public:
00066   Publisher() {}
00067 
00074   uint32_t getNumSubscribers() const;
00075 
00079   std::string getTopic() const;
00080 
00084   void publish(const sensor_msgs::Image& message) const;
00085 
00089   void publish(const sensor_msgs::ImageConstPtr& message) const;
00090 
00094   void shutdown();
00095 
00096   operator void*() const;
00097   bool operator< (const Publisher& rhs) const { return impl_ <  rhs.impl_; }
00098   bool operator!=(const Publisher& rhs) const { return impl_ != rhs.impl_; }
00099   bool operator==(const Publisher& rhs) const { return impl_ == rhs.impl_; }
00100 
00101 private:
00102   Publisher(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
00103             const SubscriberStatusCallback& connect_cb,
00104             const SubscriberStatusCallback& disconnect_cb,
00105             const ros::VoidPtr& tracked_object, bool latch,
00106             const PubLoaderPtr& loader);
00107 
00108   struct Impl;
00109   typedef boost::shared_ptr<Impl> ImplPtr;
00110   typedef boost::weak_ptr<Impl> ImplWPtr;
00111   
00112   ImplPtr impl_;
00113 
00114   static void weakSubscriberCb(const ImplWPtr& impl_wptr,
00115                                const SingleSubscriberPublisher& plugin_pub,
00116                                const SubscriberStatusCallback& user_cb);
00117   
00118   SubscriberStatusCallback rebindCB(const SubscriberStatusCallback& user_cb);
00119   
00120   friend class ImageTransport;
00121 };
00122 
00123 } //namespace image_transport
00124 
00125 #endif


image_transport
Author(s): Patrick Mihelich
autogenerated on Thu Aug 27 2015 13:30:17