pass_through.h

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#ifndef MESSAGE_FILTERS_PASSTHROUGH_H
#define MESSAGE_FILTERS_PASSTHROUGH_H
 
#include "simple_filter.h"
 
#include <vector>
 
namespace message_filters
{
template<typename M>
class PassThrough : public SimpleFilter<M>
{
public:
  typedef boost::shared_ptr<M const> MConstPtr;
  typedef ros::MessageEvent<M const> EventType;
 
  PassThrough()
  {
  }
 
  template<typename F>
  PassThrough(F& f)
  {
    connectInput(f);
  }
 
  template<class F>
  void connectInput(F& f)
  {
    incoming_connection_.disconnect();
    incoming_connection_ = f.registerCallback(typename SimpleFilter<M>::EventCallback(boost::bind(&PassThrough::cb, this, boost::placeholders::_1)));
  }
 
  void add(const MConstPtr& msg)
  {
    add(EventType(msg));
  }
 
  void add(const EventType& evt)
  {
    this->signalMessage(evt);
  }
 
private:
  void cb(const EventType& evt)
  {
    add(evt);
  }
 
  Connection incoming_connection_;
};
 
} // namespace message_filters
 
#endif // MESSAGE_FILTERS_PASSTHROUGH_H