/usr/include/image_transport/subscriber_plugin.h is in libimage-transport-dev 1.11.10-5.
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#ifndef IMAGE_TRANSPORT_SUBSCRIBER_PLUGIN_H
#define IMAGE_TRANSPORT_SUBSCRIBER_PLUGIN_H
#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <boost/noncopyable.hpp>
#include "image_transport/transport_hints.h"
namespace image_transport {
/**
* \brief Base class for plugins to Subscriber.
*/
class SubscriberPlugin : boost::noncopyable
{
public:
typedef boost::function<void(const sensor_msgs::ImageConstPtr&)> Callback;
virtual ~SubscriberPlugin() {}
/**
* \brief Get a string identifier for the transport provided by
* this plugin.
*/
virtual std::string getTransportName() const = 0;
/**
* \brief Subscribe to an image topic, version for arbitrary boost::function object.
*/
void subscribe(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
const Callback& callback, const ros::VoidPtr& tracked_object = ros::VoidPtr(),
const TransportHints& transport_hints = TransportHints())
{
return subscribeImpl(nh, base_topic, queue_size, callback, tracked_object, transport_hints);
}
/**
* \brief Subscribe to an image topic, version for bare function.
*/
void subscribe(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
void(*fp)(const sensor_msgs::ImageConstPtr&),
const TransportHints& transport_hints = TransportHints())
{
return subscribe(nh, base_topic, queue_size,
boost::function<void(const sensor_msgs::ImageConstPtr&)>(fp),
ros::VoidPtr(), transport_hints);
}
/**
* \brief Subscribe to an image topic, version for class member function with bare pointer.
*/
template<class T>
void subscribe(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
void(T::*fp)(const sensor_msgs::ImageConstPtr&), T* obj,
const TransportHints& transport_hints = TransportHints())
{
return subscribe(nh, base_topic, queue_size, boost::bind(fp, obj, _1), ros::VoidPtr(), transport_hints);
}
/**
* \brief Subscribe to an image topic, version for class member function with shared_ptr.
*/
template<class T>
void subscribe(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
void(T::*fp)(const sensor_msgs::ImageConstPtr&),
const boost::shared_ptr<T>& obj,
const TransportHints& transport_hints = TransportHints())
{
return subscribe(nh, base_topic, queue_size, boost::bind(fp, obj.get(), _1), obj, transport_hints);
}
/**
* \brief Get the transport-specific communication topic.
*/
virtual std::string getTopic() const = 0;
/**
* \brief Returns the number of publishers this subscriber is connected to.
*/
virtual uint32_t getNumPublishers() const = 0;
/**
* \brief Unsubscribe the callback associated with this SubscriberPlugin.
*/
virtual void shutdown() = 0;
/**
* \brief Return the lookup name of the SubscriberPlugin associated with a specific
* transport identifier.
*/
static std::string getLookupName(const std::string& transport_type)
{
return "image_transport/" + transport_type + "_sub";
}
protected:
/**
* \brief Subscribe to an image transport topic. Must be implemented by the subclass.
*/
virtual void subscribeImpl(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
const Callback& callback, const ros::VoidPtr& tracked_object,
const TransportHints& transport_hints) = 0;
};
} //namespace image_transport
#endif
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