我的问题是：
我定义了类（生成器），在其中我定义了一个前向嵌套结构（主题和 it_set）。
我在 .cpp 文件中声明了这个嵌套类。
在此之后，我声明了第二个类（ImageGenerator），它是生成器的继承。
当我在 ImageGenerator 的声明文件中尝试时遇到问题。
反正有没有使这成为可能？
我的代码是这些：
<i>
//base.hpp
</i>
class generator{
protected:
struct topics;
struct it_set;
NodeHandle _nh;
cv::Ptr<topics> _topics;
cv::Ptr<it_set> _set;
cv::Mat _data;
public:
generator(ros::NodeHandle&,const std::string&,const std::string&,const std::string&);
virtual ~generator(void);
bool ok(void)const;
protected:
virtual void grab(void) = 0;
};
<i>
// base.cpp
</i>
static void cam_from_sub(const std::string& _subscriber,std::string& _cam){
std::stringstream str;
std::vector<std::string> words;
std::string tmp;
for(std::string::const_iterator it = _subscriber.begin();it != _subscriber.end();it++)
(*it != '/')?(str<<*it):(str<<std::endl);
while(!str.eof()){
str>>tmp;
words.push_back(tmp);
tmp.clear();
}
words.pop_back();
for(std::vector<std::string>::iterator it = words.begin(); it != words.end();it++){
_cam+=*it+std::string("/");
it->clear();
}
words.clear();
_cam+= std::string("camera_info");
}
struct generator::topics{
std::string _publisher;
std::string _subscriber;
std::string _camera_info;
topics(const std::string& _pub,const std::string& _sub,const std::string& _cam):_publisher(_pub),_subscriber(_sub),_camera_info(_cam){}
topics(const std::string &_pub, const std::string &_sub):_publisher(_pub),_subscriber(_sub){cam_from_sub(_subscriber,_camera_info);}
~topics(void){}
};
struct generator::it_set{
image_transport::ImageTransport _it;
image_transport::SubscriberFilter _is;
image_transport::Publisher _pb;
message_filters::Subscriber<sensor_msgs::CameraInfo> _cam_info;
it_set(NodeHandle& _nh,cv::Ptr<generator::topics>& _topics):_it(_nh),_is(_it,_topics->_subscriber,1),_cam_info(_nh,_topics->_camera_info,1){ this->_pb = this->_it.advertise(_topics->_publisher,1);}
};
generator::generator(NodeHandle & nh, const std::string & subscribe, const std::string & publish, const std::string & camera_info):_nh(nh),_topics(new topics(publish,subscribe,camera_info)),_set( new it_set(_nh,_topics)){}
generator::~generator(void){ _set.release(); _topics.release();}
bool generator::ok(void)const{ return this->_nh.ok();}
<i>
// image.hpp
</i>
class ImageGenerator : public generator{
private:
NodeHandle _nh;
static bool _sht;
bool _first_sht;
bool _is_sub;
public:
typedef void(*function_type)(const cv::Mat&,cv::Mat&);
private:
function_type _fun;
virtual void callback(const sensor_msgs::ImageConstPtr&);
virtual void grab(void);
public:
ImageGenerator(const NodeHandle&,const std::string&,const std::string&,const std::string&,function_type);
~ImageGenerator(void);
void operator>>(cv::Mat&);
void operator<<(const cv::Mat&);
};
<i>
// image.cpp
</i>
bool ImageGenerator::_sht = false;
void ImageGenerator::grab(void){
if(!this->_is_sub)
this->_set->_is.registerCallback(boost::bind(&ImageGenerator::callback,this,_1));
ros::CallbackQueue* mloop = ros::getGlobalCallbackQueue();
while(!this->_sht)
mloop->callAvailable(ros::WallDuration(0.1f));
this->_sht = true;
mloop = NULL;
this->_is_sub = true;
}
void ImageGenerator::callback(const sensor_msgs::ImageConstPtr &msg){
cv_bridge::CvImagePtr cv_ptr;
cv_ptr = cv_bridge::toCvCopy(msg);
this->_data = cv_ptr->image;
}
ImageGenerator::ImageGenerator(const NodeHandle & nh, const std::string & subscribe, const std::string & publish, const std::string & camera_info, function_type fun):_nh(nh),base::generator(_nh,subscribe,publish,camera_info),_fun(fun){ this->grab();}
ImageGenerator::~ImageGenerator(void){}
我要解决的问题是
void ImageGenerator::grab(void)
它的 ：
this->_set->_is.registerCallback(boost::bind(&ImageGenerator::callback,this,_1));
编译器回答：
错误无效使用不完整类型生成器::it_set