single_subscriber_publisher.h

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/*
 * Copyright (C) 2009, Willow Garage, Inc.
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#ifndef ROSCPP_SINGLE_SUBSCRIBER_PUBLISHER_H
#define ROSCPP_SINGLE_SUBSCRIBER_PUBLISHER_H
 
#include "ros/forwards.h"
#include "ros/serialization.h"
#include "common.h"
 
#include <boost/utility.hpp>
 
namespace ros
{
 
class ROSCPP_DECL SingleSubscriberPublisher : public boost::noncopyable
{
public:
  SingleSubscriberPublisher(const SubscriberLinkPtr& link);
  ~SingleSubscriberPublisher();
 
  template<class M>
  void publish(const boost::shared_ptr<M const>& message) const
  {
    publish(*message);
  }
 
  template<class M>
  void publish(const boost::shared_ptr<M>& message) const
  {
    publish(*message);
  }
 
  template<class M>
  void publish(const M& message) const
  {
    using namespace serialization;
    SerializedMessage m = serializeMessage(message);
    publish(m);
  }
 
  std::string getTopic() const;
 
  std::string getSubscriberName() const;
 
private:
  void publish(const SerializedMessage& m) const;
 
  SubscriberLinkPtr link_;
};
 
}
 
#endif // ROSCPP_PUBLISHER_HANDLE_H