/usr/include/image_transport/subscriber.h is in libimage-transport-dev 1.11.10-5.
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#ifndef IMAGE_TRANSPORT_SUBSCRIBER_H
#define IMAGE_TRANSPORT_SUBSCRIBER_H
#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include "image_transport/transport_hints.h"
#include "image_transport/exception.h"
#include "image_transport/loader_fwds.h"
namespace image_transport {
/**
* \brief Manages a subscription callback on a specific topic that can be interpreted
* as an Image topic.
*
* Subscriber is the client-side counterpart to Publisher. By loading the
* appropriate plugin, it can subscribe to a base image topic using any available
* transport. The complexity of what transport is actually used is hidden from the user,
* who sees only a normal Image callback.
*
* A Subscriber should always be created through a call to ImageTransport::subscribe(),
* or copied from one that was.
* Once all copies of a specific Subscriber go out of scope, the subscription callback
* associated with that handle will stop being called. Once all Subscriber for a given
* topic go out of scope the topic will be unsubscribed.
*/
class Subscriber
{
public:
Subscriber() {}
/**
* \brief Returns the base image topic.
*
* The Subscriber may actually be subscribed to some transport-specific topic that
* differs from the base topic.
*/
std::string getTopic() const;
/**
* \brief Returns the number of publishers this subscriber is connected to.
*/
uint32_t getNumPublishers() const;
/**
* \brief Returns the name of the transport being used.
*/
std::string getTransport() const;
/**
* \brief Unsubscribe the callback associated with this Subscriber.
*/
void shutdown();
operator void*() const;
bool operator< (const Subscriber& rhs) const { return impl_ < rhs.impl_; }
bool operator!=(const Subscriber& rhs) const { return impl_ != rhs.impl_; }
bool operator==(const Subscriber& rhs) const { return impl_ == rhs.impl_; }
private:
Subscriber(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
const boost::function<void(const sensor_msgs::ImageConstPtr&)>& callback,
const ros::VoidPtr& tracked_object, const TransportHints& transport_hints,
const SubLoaderPtr& loader);
struct Impl;
typedef boost::shared_ptr<Impl> ImplPtr;
typedef boost::weak_ptr<Impl> ImplWPtr;
ImplPtr impl_;
friend class ImageTransport;
};
} //namespace image_transport
#endif
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