From caa61a4fdc7898987da7a03e1924ced8962bb92c Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Fri, 28 Nov 2014 23:09:45 +0100
Subject: add support for subcription method callbacks for ros and nuttx

---
 src/platforms/px4_nodehandle.h | 9 +++++++++
 1 file changed, 9 insertions(+)

(limited to 'src/platforms/px4_nodehandle.h')

diff --git a/src/platforms/px4_nodehandle.h b/src/platforms/px4_nodehandle.h
index 45ef225fa..415351756 100644
--- a/src/platforms/px4_nodehandle.h
+++ b/src/platforms/px4_nodehandle.h
@@ -71,6 +71,7 @@ public:
 		//XXX empty lists
 	};
 
+	/* Constructor with callback to function */
 	template<typename M>
 	Subscriber * subscribe(const char *topic, void(*fp)(M)) {
 		ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, fp);
@@ -78,6 +79,14 @@ public:
 		_subs.push_back(sub);
 		return sub;
 	}
+	/* Constructor with callback to class method */
+	template<typename M, typename T>
+	Subscriber * subscribe(const char *topic, void(T::*fp)(M), T *obj) {
+		ros::Subscriber ros_sub = ros::NodeHandle::subscribe(topic, kQueueSizeDefault, fp, obj);
+		Subscriber * sub = new Subscriber(ros_sub);
+		_subs.push_back(sub);
+		return sub;
+	}
 
 	template<typename M>
 	Publisher * advertise(const char *topic) {
-- 
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