Program Listing for File point_cloud2_iterator.hpp

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// Copyright (c) 2013, Open Source Robotics Foundation, Inc.
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// This file is originally from:
// https://github.com/ros/common_msgs/blob/275b09a/sensor_msgs/include/sensor_msgs/point_cloud2_iterator.h

#ifndef SENSOR_MSGS__POINT_CLOUD2_ITERATOR_HPP_
#define SENSOR_MSGS__POINT_CLOUD2_ITERATOR_HPP_

#include <sensor_msgs/msg/point_cloud2.hpp>
#include <cstdarg>
#include <string>
#include <vector>

namespace sensor_msgs
{
class PointCloud2Modifier
{
public:
  explicit PointCloud2Modifier(sensor_msgs::msg::PointCloud2 & cloud_msg);

  size_t size() const;

  void reserve(size_t size);

  void resize(size_t size);

  void clear();

  void setPointCloud2Fields(int n_fields, ...);

  void setPointCloud2FieldsByString(int n_fields, ...);

protected:
  sensor_msgs::msg::PointCloud2 & cloud_msg_;
};

namespace impl
{
template<typename T, typename TT, typename U, typename C, template<typename> class V>
class PointCloud2IteratorBase
{
public:
  PointCloud2IteratorBase();

  PointCloud2IteratorBase(C & cloud_msg, const std::string & field_name);

  V<T> & operator=(const V<T> & iter);

  TT & operator[](size_t i) const;

  TT & operator*() const;

  V<T> & operator++();

  V<T> operator+(int i);

  V<T> & operator+=(int i);

  bool operator!=(const V<T> & iter) const;

  V<T> end() const;

private:
  int set_field(const sensor_msgs::msg::PointCloud2 & cloud_msg, const std::string & field_name);

  int point_step_;
  U * data_char_;
  TT * data_;
  TT * data_end_;
  bool is_bigendian_;
};
}  // namespace impl

template<typename T>
class PointCloud2Iterator
  : public impl::PointCloud2IteratorBase<
    T, T, unsigned char, sensor_msgs::msg::PointCloud2, PointCloud2Iterator>
{
public:
  PointCloud2Iterator(
    sensor_msgs::msg::PointCloud2 & cloud_msg,
    const std::string & field_name)
  : impl::PointCloud2IteratorBase<
      T, T, unsigned char,
      sensor_msgs::msg::PointCloud2,
      sensor_msgs::PointCloud2Iterator
  >::PointCloud2IteratorBase(cloud_msg, field_name) {}
};

template<typename T>
class PointCloud2ConstIterator
  : public impl::PointCloud2IteratorBase<
    T, const T, const unsigned char, const sensor_msgs::msg::PointCloud2,
    PointCloud2ConstIterator>
{
public:
  PointCloud2ConstIterator(
    const sensor_msgs::msg::PointCloud2 & cloud_msg,
    const std::string & field_name)
  : impl::PointCloud2IteratorBase<
      T, const T, const unsigned char,
      const sensor_msgs::msg::PointCloud2,
      sensor_msgs::PointCloud2ConstIterator
  >::PointCloud2IteratorBase(cloud_msg, field_name) {}
};
}  // namespace sensor_msgs

#include <sensor_msgs/impl/point_cloud2_iterator.hpp> // NOLINT

#endif  // SENSOR_MSGS__POINT_CLOUD2_ITERATOR_HPP_