/usr/include/message_filters/pass_through.h is in libmessage-filters-dev 1.13.5+ds1-3.
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#ifndef MESSAGE_FILTERS_PASSTHROUGH_H
#define MESSAGE_FILTERS_PASSTHROUGH_H
#include "simple_filter.h"
#include <vector>
namespace message_filters
{
/**
* \brief Simple passthrough filter. What comes in goes out immediately.
*/
template<typename M>
class PassThrough : public SimpleFilter<M>
{
public:
typedef boost::shared_ptr<M const> MConstPtr;
typedef ros::MessageEvent<M const> EventType;
PassThrough()
{
}
template<typename F>
PassThrough(F& f)
{
connectInput(f);
}
template<class F>
void connectInput(F& f)
{
incoming_connection_.disconnect();
incoming_connection_ = f.registerCallback(typename SimpleFilter<M>::EventCallback(boost::bind(&PassThrough::cb, this, _1)));
}
void add(const MConstPtr& msg)
{
add(EventType(msg));
}
void add(const EventType& evt)
{
this->signalMessage(evt);
}
private:
void cb(const EventType& evt)
{
add(evt);
}
Connection incoming_connection_;
};
} // namespace message_filters
#endif // MESSAGE_FILTERS_PASSTHROUGH_H
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