Program Listing for File publisher.hpp

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// Copyright (c) 2023, Czech Technical University in Prague
// Copyright (c) 2019, paplhjak
// Copyright (c) 2009, Willow Garage, Inc.
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#ifndef POINT_CLOUD_TRANSPORT__PUBLISHER_HPP_
#define POINT_CLOUD_TRANSPORT__PUBLISHER_HPP_

#include <string>
#include <memory>

#include "rclcpp/macros.hpp"
#include "rclcpp/node.hpp"

#include <sensor_msgs/msg/point_cloud2.hpp>

#include <point_cloud_transport/loader_fwds.hpp>
#include <point_cloud_transport/single_subscriber_publisher.hpp>

#include "point_cloud_transport/visibility_control.hpp"

namespace point_cloud_transport
{

class Publisher
{
public:
  POINT_CLOUD_TRANSPORT_PUBLIC
  Publisher() = default;

  POINT_CLOUD_TRANSPORT_PUBLIC
  Publisher(
    std::shared_ptr<rclcpp::Node> node,
    const std::string & base_topic,
    PubLoaderPtr loader,
    rmw_qos_profile_t custom_qos,
    const rclcpp::PublisherOptions & options = rclcpp::PublisherOptions());

  POINT_CLOUD_TRANSPORT_PUBLIC
  uint32_t getNumSubscribers() const;

  POINT_CLOUD_TRANSPORT_PUBLIC
  std::string getTopic() const;

  POINT_CLOUD_TRANSPORT_PUBLIC
  void publish(const sensor_msgs::msg::PointCloud2 & message) const;

  POINT_CLOUD_TRANSPORT_PUBLIC
  void publish(const sensor_msgs::msg::PointCloud2::ConstSharedPtr & message) const;

  POINT_CLOUD_TRANSPORT_PUBLIC
  void shutdown();

  POINT_CLOUD_TRANSPORT_PUBLIC
  operator void *() const;

  POINT_CLOUD_TRANSPORT_PUBLIC
  bool operator<(const point_cloud_transport::Publisher & rhs) const
  {
    return impl_ < rhs.impl_;
  }

  POINT_CLOUD_TRANSPORT_PUBLIC
  bool operator!=(const point_cloud_transport::Publisher & rhs) const
  {
    return impl_ != rhs.impl_;
  }

  POINT_CLOUD_TRANSPORT_PUBLIC
  bool operator==(const point_cloud_transport::Publisher & rhs) const
  {
    return impl_ == rhs.impl_;
  }

private:
  struct Impl;
  std::shared_ptr<Impl> impl_;
  friend class PointCloudTransport;
};

}  // namespace point_cloud_transport
#endif  // POINT_CLOUD_TRANSPORT__PUBLISHER_HPP_