[C++知识库]C++用法进阶

可调用对象：function和bind用法

用法链接

std::function<void(px4_msgs::VehicleGpsPosition const* const)> gps_cb =
      std::bind(&VinsOfflineSim::callbackGps, &agent, std::placeholders::_1);
bag_player.registerCallback(ktopic_opt_img, img_cb);
template <typename MsgType>
void registerCallback(std::string const &topic,
                        std::function<void(std::shared_ptr<MsgType>)> callback) {
   // assert topic
   std::shared_ptr<CallBackBaseRef<decltype(callback), std::shared_ptr<MsgType>>> cb(
       new CallBackBaseRef<decltype(callback), std::shared_ptr<MsgType>>());
   cb->f = callback;

   mp_topic_2_callback_[topic] = cb;
   subscribed_topics_.insert(topic);
 }

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