/usr/include/message_filters/simple_filter.h is in libmessage-filters-dev 1.13.5+ds1-3.
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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
{
/**
* \brief Convenience base-class for simple filters which output a single message
*
* SimpleFilter provides some of the tricky callback registering functionality, so that
* simple filters do not have to duplicate it. It also provides getName()/setName() for debugging
* purposes.
*/
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;
/**
* \brief Register a callback to be called when this filter has passed
* \param callback The callback to call
*/
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));
}
/**
* \brief Register a callback to be called when this filter has passed
* \param callback The callback to call
*/
template<typename P>
Connection registerCallback(const boost::function<void(P)>& callback)
{
return Connection(boost::bind(&Signal::removeCallback, &signal_, signal_.addCallback(callback)));
}
/**
* \brief Register a callback to be called when this filter has passed
* \param callback The callback to call
*/
template<typename P>
Connection registerCallback(void(*callback)(P))
{
typename CallbackHelper1<M>::Ptr helper = signal_.template addCallback<P>(boost::bind(callback, _1));
return Connection(boost::bind(&Signal::removeCallback, &signal_, helper));
}
/**
* \brief Register a callback to be called when this filter has passed
* \param callback The callback to call
*/
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, _1));
return Connection(boost::bind(&Signal::removeCallback, &signal_, helper));
}
/**
* \brief Set the name of this filter. For debugging use.
*/
void setName(const std::string& name) { name_ = name; }
/**
* \brief Get the name of this filter. For debugging use.
*/
const std::string& getName() { return name_; }
protected:
/**
* \brief Call all registered callbacks, passing them the specified message
*/
void signalMessage(const MConstPtr& msg)
{
ros::MessageEvent<M const> event(msg);
signal_.call(event);
}
/**
* \brief Call all registered callbacks, passing them the specified message
*/
void signalMessage(const ros::MessageEvent<M const>& event)
{
signal_.call(event);
}
private:
typedef Signal1<M> Signal;
Signal signal_;
std::string name_;
};
}
#endif
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