Program Listing for File cloud.hpp
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#ifndef DRACO_POINT_CLOUD_TRANSPORT__CLOUD__IMPL__CLOUD_HPP_
#define DRACO_POINT_CLOUD_TRANSPORT__CLOUD__IMPL__CLOUD_HPP_
#include <string>
#include <sensor_msgs/msg/point_field.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <sensor_msgs/point_cloud2_iterator.hpp>
namespace cras
{
namespace impl
{
template<typename T, typename TT, typename U, typename C, template<typename> class V>
class GenericCloudIteratorBase : public ::sensor_msgs::impl::PointCloud2IteratorBase<T, TT, U, C, V>
{
public:
GenericCloudIteratorBase(C & cloudMsg, const ::std::string & fieldName);
inline size_t getFieldSize() const {return this->fieldSize;}
U * rawData() const;
protected:
size_t fieldSize = 0;
};
template<typename T = unsigned char>
class GenericCloudConstIterator
: public GenericCloudIteratorBase<T, const T, const unsigned char,
const ::sensor_msgs::msg::PointCloud2, GenericCloudConstIterator>
{
public:
GenericCloudConstIterator(
const ::sensor_msgs::msg::PointCloud2 & cloud_msg,
const ::std::string & field_name)
: GenericCloudIteratorBase<T, const T, const unsigned char, const ::sensor_msgs::msg::PointCloud2,
GenericCloudConstIterator>::GenericCloudIteratorBase(cloud_msg, field_name)
{
}
template<typename D>
const D * dataAs() const
{
if (sizeof(D) != this->getFieldSize()) {
throw ::std::runtime_error(
"Cannot convert field of size " + ::std::to_string(this->getFieldSize()) +
" to a type of size " + ::std::to_string(sizeof(D)));
}
return reinterpret_cast<const D *>(this->rawData());
}
};
template<typename T = unsigned char>
class GenericCloudIterator
: public GenericCloudIteratorBase<T, T, unsigned char, ::sensor_msgs::msg::PointCloud2,
GenericCloudIterator>
{
public:
GenericCloudIterator(
::sensor_msgs::msg::PointCloud2 & cloud_msg,
const ::std::string & field_name)
: GenericCloudIteratorBase<T, T, unsigned char, ::sensor_msgs::msg::PointCloud2,
GenericCloudIterator>::GenericCloudIteratorBase(cloud_msg, field_name)
{
}
template<typename D>
D * dataAs() const
{
if (sizeof(D) != this->getFieldSize()) {
throw ::std::runtime_error(
"Cannot convert field of size " + ::std::to_string(this->getFieldSize()) +
" to a type of size " + ::std::to_string(sizeof(D)));
}
return reinterpret_cast<D *>(this->rawData());
}
void copyData(const ::cras::impl::GenericCloudConstIterator<T> & otherIter) const;
void copyData(const ::cras::impl::GenericCloudIterator<T> & otherIter) const;
};
} // namespace impl
} // namespace cras
#endif // DRACO_POINT_CLOUD_TRANSPORT__CLOUD__IMPL__CLOUD_HPP_