/usr/include/rosbag/bag_player.h is in librosbag-storage-dev 1.11.16-3.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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#ifndef ROSBAG_BAG_PLAYER_H
#define ROSBAG_BAG_PLAYER_H
#include <boost/foreach.hpp>
#include "rosbag/bag.h"
#include "rosbag/view.h"
namespace rosbag
{
// A helper struct
struct BagCallback
{
virtual ~BagCallback() {};
virtual void call(MessageInstance m) = 0;
};
// A helper class for the callbacks
template<class T>
class BagCallbackT : public BagCallback
{
public:
typedef boost::function<void (const boost::shared_ptr<const T>&)> Callback;
BagCallbackT(Callback cb) :
cb_(cb)
{}
void call(MessageInstance m) {
cb_(m.instantiate<T>());
}
private:
Callback cb_;
};
/* A class for playing back bag files at an API level. It supports
relatime, as well as accelerated and slowed playback. */
class BagPlayer
{
public:
/* Constructor expecting the filename of a bag */
BagPlayer(const std::string &filename) throw(BagException);
/* Register a callback for a specific topic and type */
template<class T>
void register_callback(const std::string &topic,
typename BagCallbackT<T>::Callback f);
/* Unregister a callback for a topic already registered */
void unregister_callback(const std::string &topic);
/* Set the time in the bag to start.
* Default is the first message */
void set_start(const ros::Time &start);
/* Set the time in the bag to stop.
* Default is the last message */
void set_end(const ros::Time &end);
/* Set the speed to playback. 1.0 is the default.
* 2.0 would be twice as fast, 0.5 is half realtime. */
void set_playback_speed(double scale);
/* Start playback of the bag file using the parameters previously
set */
void start_play();
/* Get the current time of the playback */
ros::Time get_time();
// Destructor
virtual ~BagPlayer();
// The bag file interface loaded in the constructor.
Bag bag;
private:
ros::Time real_time(const ros::Time &msg_time);
std::map<std::string, BagCallback *> cbs_;
ros::Time bag_start_;
ros::Time bag_end_;
ros::Time last_message_time_;
double playback_speed_;
ros::Time play_start_;
};
template<class T>
void BagPlayer::register_callback(const std::string &topic,
typename BagCallbackT<T>::Callback cb) {
cbs_[topic] = new BagCallbackT<T>(cb);
}
}
#endif
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