octomap_ros: conversions.cpp Source File

00001 // $Id:  $
00002 
00011 /*
00012  * Copyright (c) 2010, A. Hornung, University of Freiburg
00013  * All rights reserved.
00014  *
00015  * Redistribution and use in source and binary forms, with or without
00016  * modification, are permitted provided that the following conditions are met:
00017  *
00018  *     * Redistributions of source code must retain the above copyright
00019  *       notice, this list of conditions and the following disclaimer.
00020  *     * Redistributions in binary form must reproduce the above copyright
00021  *       notice, this list of conditions and the following disclaimer in the
00022  *       documentation and/or other materials provided with the distribution.
00023  *     * Neither the name of the University of Freiburg nor the names of its
00024  *       contributors may be used to endorse or promote products derived from
00025  *       this software without specific prior written permission.
00026  *
00027  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00028  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00029  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00030  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00031  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00032  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00033  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00034  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00035  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00036  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00037  * POSSIBILITY OF SUCH DAMAGE.
00038  */
00039 
00040 #include <octomap_ros/conversions.h>
00041 
00042 namespace octomap {
00043 
00044         // common template specializations (check for errors while compiling octomap_ros)
00045         template static inline void pointsOctomapToPCL(const point3d_list& points, pcl::PointCloud<pcl::PointXYZ>& cloud);
00046         template static inline void pointcloudPCLToOctomap(const pcl::PointCloud<pcl::PointXYZ>& pclCloud, Pointcloud& octomapCloud);
00047 
00048 }
00049 
00050