point_cloud2.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#pragma once

namespace std
{
template <class T>
class allocator;
}

namespace std_msgs
{
template <class ContainerAllocator>
struct Header_;
typedef Header_<std::allocator<void>> Header;
}  // namespace std_msgs

namespace sensor_msgs
{
template <class ContainerAllocator>
struct PointCloud2_;
typedef PointCloud2_<std::allocator<void>> PointCloud2;
}  // namespace sensor_msgs

#include <mrpt/version.h>
namespace mrpt
{
namespace maps
{
class CSimplePointsMap;
class CColouredPointsMap;
}  // namespace maps
}  // namespace mrpt

namespace mrpt_bridge
{
bool copy(
        const sensor_msgs::PointCloud2& msg, mrpt::maps::CSimplePointsMap& obj);

bool copy(
        const mrpt::maps::CSimplePointsMap& obj, const std_msgs::Header& msg_header,
        sensor_msgs::PointCloud2& msg);

}  // namespace mrpt_bridge