image_transport::SubscriberFilter Class Reference

Image subscription filter. More...

#include <subscriber_filter.h>

Inheritance diagram for image_transport::SubscriberFilter:

List of all members.

Public Member Functions
uint32_t	getNumPublishers () const
	Returns the number of publishers this subscriber is connected to.
const Subscriber &	getSubscriber () const
	Returns the internal image_transport::Subscriber object.
std::string	getTopic () const
std::string	getTransport () const
	Returns the name of the transport being used.
void	subscribe (ImageTransport &it, const std::string &base_topic, uint32_t queue_size, const TransportHints &transport_hints=TransportHints())
	Subscribe to a topic.
	SubscriberFilter (ImageTransport &it, const std::string &base_topic, uint32_t queue_size, const TransportHints &transport_hints=TransportHints())
	Constructor.
	SubscriberFilter ()
	Empty constructor, use subscribe() to subscribe to a topic.
void	unsubscribe ()
	Force immediate unsubscription of this subscriber from its topic.
	~SubscriberFilter ()
Private Member Functions
void	cb (const sensor_msgs::ImageConstPtr &m)
Private Attributes
Subscriber	sub_

---

Detailed Description

Image subscription filter.

This class wraps Subscriber as a "filter" compatible with the message_filters package. It acts as a highest-level filter, simply passing messages from an image transport subscription through to the filters which have connected to it.

When this object is destroyed it will unsubscribe from the ROS subscription.

connections

SubscriberFilter has no input connection.

The output connection for the SubscriberFilter object is the same signature as for roscpp subscription callbacks, ie.

void callback(const boost::shared_ptr<const sensor_msgs::Image>&);

Definition at line 64 of file subscriber_filter.h.

---

Constructor & Destructor Documentation

image_transport::SubscriberFilter::SubscriberFilter	(	ImageTransport &	it,
		const std::string &	base_topic,
		uint32_t	queue_size,
		const TransportHints &	transport_hints = TransportHints()
	)		[inline]

Constructor.

See the ros::NodeHandle::subscribe() variants for more information on the parameters

Parameters:

nh	The ros::NodeHandle to use to subscribe.
base_topic	The topic to subscribe to.
queue_size	The subscription queue size
transport_hints	The transport hints to pass along

Definition at line 77 of file subscriber_filter.h.

image_transport::SubscriberFilter::SubscriberFilter

(

)

[inline]

Empty constructor, use subscribe() to subscribe to a topic.

Definition at line 86 of file subscriber_filter.h.

image_transport::SubscriberFilter::~SubscriberFilter

(

)

[inline]

Definition at line 90 of file subscriber_filter.h.

---

Member Function Documentation

void image_transport::SubscriberFilter::cb

(

const sensor_msgs::ImageConstPtr &

m

)

[inline, private]

Definition at line 153 of file subscriber_filter.h.

uint32_t image_transport::SubscriberFilter::getNumPublishers

(

)

const [inline]

Returns the number of publishers this subscriber is connected to.

Definition at line 130 of file subscriber_filter.h.

const Subscriber& image_transport::SubscriberFilter::getSubscriber

(

)

const [inline]

Returns the internal image_transport::Subscriber object.

Definition at line 146 of file subscriber_filter.h.

std::string image_transport::SubscriberFilter::getTopic

(

)

const [inline]

Definition at line 122 of file subscriber_filter.h.

std::string image_transport::SubscriberFilter::getTransport

(

)

const [inline]

Returns the name of the transport being used.

Definition at line 138 of file subscriber_filter.h.

void image_transport::SubscriberFilter::subscribe	(	ImageTransport &	it,
		const std::string &	base_topic,
		uint32_t	queue_size,
		const TransportHints &	transport_hints = TransportHints()
	)		[inline]

Subscribe to a topic.

If this Subscriber is already subscribed to a topic, this function will first unsubscribe.

Parameters:

nh	The ros::NodeHandle to use to subscribe.
base_topic	The topic to subscribe to.
queue_size	The subscription queue size
transport_hints	The transport hints to pass along

Definition at line 105 of file subscriber_filter.h.

void image_transport::SubscriberFilter::unsubscribe

(

)

[inline]

Force immediate unsubscription of this subscriber from its topic.

Definition at line 117 of file subscriber_filter.h.

---

Member Data Documentation

Subscriber image_transport::SubscriberFilter::sub_ [private]

Definition at line 158 of file subscriber_filter.h.

---

The documentation for this class was generated from the following file:

• subscriber_filter.h