filter_base.hpp

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#pragma once
 
#include <functional>
#include <memory>
 
#include <ros/common.h>
#if ROS_VERSION_MINIMUM(1, 15, 0)
#include <filters/filter_base.hpp>
#else
#include <filters/filter_base.h>
#endif
 
#include <nodelet/nodelet.h>
 
#include <cras_cpp_common/string_utils.hpp>
#include <cras_cpp_common/param_utils.hpp>
#include <cras_cpp_common/param_utils/bound_param_helper.hpp>
 
namespace cras
{
 
// these are declared in the impl file
template <typename F> class FilterLogHelper;
template <typename F> struct FilterGetParamAdapter;
 
template<typename F>
class FilterBase : public ::filters::FilterBase<F>, public ::cras::BoundParamHelper
{
public:
  FilterBase() : ::cras::BoundParamHelper(
    ::std::make_shared<::cras::FilterLogHelper<F>>(*this),
    ::std::make_shared<::cras::FilterGetParamAdapter<F>>(*this))
  {
  }
 
  ~FilterBase() override = default;
 
  void setNodelet(const ::nodelet::Nodelet* nodelet)
  {
    this->nodelet = nodelet;
  }
 
  // Allow FilterGetParamAdapter to call getParam() methods.
  friend struct ::cras::FilterGetParamAdapter<F>;
 
protected:
  // Use getParam() implementation provided by BoundParamHelper.
  using ::cras::BoundParamHelper::getParam;
 
  const ::nodelet::Nodelet* nodelet {nullptr};
};
 
}
 
#include "impl/filter_base.hpp"