.. _program_listing_file__tmp_ws_src_laser_proc_include_laser_proc_laser_publisher.hpp:

Program Listing for File laser_publisher.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_laser_proc_include_laser_proc_laser_publisher.hpp>` (``/tmp/ws/src/laser_proc/include/laser_proc/laser_publisher.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (c) 2013, Willow Garage, Inc.
    * All rights reserved.
    *
    * Redistribution and use in source and binary forms, with or without
    * modification, are permitted provided that the following conditions are met:
    *
    *     * Redistributions of source code must retain the above copyright
    *       notice, this list of conditions and the following disclaimer.
    *     * Redistributions in binary form must reproduce the above copyright
    *       notice, this list of conditions and the following disclaimer in the
    *       documentation and/or other materials provided with the distribution.
    *     * Neither the name of the Willow Garage, Inc. nor the names of its
    *       contributors may be used to endorse or promote products derived from
    *       this software without specific prior written permission.
    *
    * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
    * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
    * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
    * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
    * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
    * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
    * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
    * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
    * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
    * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    * POSSIBILITY OF SUCH DAMAGE.
    */
   
   /*
    * Author: Chad Rockey
    */
   
   #ifndef LASER_PROC__LASER_PUBLISHER_HPP_
   #define LASER_PROC__LASER_PUBLISHER_HPP_
   
   #include <memory>
   #include <string>
   #include <vector>
   
   #include "rclcpp/node.hpp"
   
   #include "sensor_msgs/msg/multi_echo_laser_scan.hpp"
   
   #include "visibility_control.hpp"
   
   namespace laser_proc
   {
   
   class LaserPublisher
   {
   public:
     LASER_PROC_PUBLIC
     explicit LaserPublisher(
       rclcpp::Node::SharedPtr & nh, uint32_t queue_size, bool publish_echoes = true);
   
     LASER_PROC_PUBLIC
     explicit LaserPublisher(
       std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface> topics_interface,
       uint32_t queue_size,
       bool publish_echoes = true);
   
     LASER_PROC_PUBLIC
     size_t getNumSubscribers() const;
   
     LASER_PROC_PUBLIC
     std::vector<std::string> getTopics() const;
   
     LASER_PROC_PUBLIC
     void publish(const sensor_msgs::msg::MultiEchoLaserScan & msg) const;
   
     LASER_PROC_PUBLIC
     void publish(sensor_msgs::msg::MultiEchoLaserScan::ConstSharedPtr msg) const;
   
     LASER_PROC_PUBLIC
     void shutdown();
   
     LASER_PROC_PUBLIC
     operator void *() const;
     LASER_PROC_PUBLIC
     bool operator<(const LaserPublisher & rhs) const {return impl_ < rhs.impl_;}
     LASER_PROC_PUBLIC
     bool operator!=(const LaserPublisher & rhs) const {return impl_ != rhs.impl_;}
     LASER_PROC_PUBLIC
     bool operator==(const LaserPublisher & rhs) const {return impl_ == rhs.impl_;}
   
   private:
     struct Impl;
     typedef std::shared_ptr<Impl> ImplPtr;
     typedef std::weak_ptr<Impl> ImplWPtr;
   
     ImplPtr impl_;
   };
   }  // namespace laser_proc
   
   #endif  // LASER_PROC__LASER_PUBLISHER_HPP_