simple_filter.h

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#ifndef MESSAGE_FILTERS_SIMPLE_FILTER_H
#define MESSAGE_FILTERS_SIMPLE_FILTER_H
 
#include <boost/noncopyable.hpp>
 
#include "connection.h"
#include "signal1.h"
#include <ros/message_event.h>
#include <ros/subscription_callback_helper.h>
 
#include <boost/bind.hpp>
 
#include <string>
 
namespace message_filters
{
 
template<class M>
class SimpleFilter : public boost::noncopyable
{
public:
  typedef boost::shared_ptr<M const> MConstPtr;
  typedef boost::function<void(const MConstPtr&)> Callback;
  typedef ros::MessageEvent<M const> EventType;
  typedef boost::function<void(const EventType&)> EventCallback;
 
  template<typename C>
  Connection registerCallback(const C& callback)
  {
    typename CallbackHelper1<M>::Ptr helper = signal_.addCallback(Callback(callback));
    return Connection(boost::bind(&Signal::removeCallback, &signal_, helper));
  }
 
  template<typename P>
  Connection registerCallback(const boost::function<void(P)>& callback)
  {
    return Connection(boost::bind(&Signal::removeCallback, &signal_, signal_.addCallback(callback)));
  }
 
  template<typename P>
  Connection registerCallback(void(*callback)(P))
  {
    typename CallbackHelper1<M>::Ptr helper = signal_.template addCallback<P>(boost::bind(callback, boost::placeholders::_1));
    return Connection(boost::bind(&Signal::removeCallback, &signal_, helper));
  }
 
  template<typename T, typename P>
  Connection registerCallback(void(T::*callback)(P), T* t)
  {
    typename CallbackHelper1<M>::Ptr helper = signal_.template addCallback<P>(boost::bind(callback, t, boost::placeholders::_1));
    return Connection(boost::bind(&Signal::removeCallback, &signal_, helper));
  }
 
  void setName(const std::string& name) { name_ = name; }
  const std::string& getName() { return name_; }
 
protected:
  void signalMessage(const MConstPtr& msg)
  {
    ros::MessageEvent<M const> event(msg);
 
    signal_.call(event);
  }
 
  void signalMessage(const ros::MessageEvent<M const>& event)
  {
    signal_.call(event);
  }
 
private:
  typedef Signal1<M> Signal;
 
  Signal signal_;
 
  std::string name_;
};
 
}
 
#endif