point_cloud2_iterator.h

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#ifndef SENSOR_MSGS_POINT_CLOUD2_ITERATOR_H
#define SENSOR_MSGS_POINT_CLOUD2_ITERATOR_H

#include <sensor_msgs/PointCloud2.h>
#include <cstdarg>
#include <string>
#include <vector>

namespace sensor_msgs
{
class PointCloud2Modifier
{
public:
  PointCloud2Modifier(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:
  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::PointCloud2 &cloud_msg, const std::string &field_name);

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

template<typename T>
class PointCloud2Iterator : public impl::PointCloud2IteratorBase<T, T, unsigned char, sensor_msgs::PointCloud2, PointCloud2Iterator>
{
public:
  PointCloud2Iterator(sensor_msgs::PointCloud2 &cloud_msg, const std::string &field_name) :
    impl::PointCloud2IteratorBase<T, T, unsigned char, sensor_msgs::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::PointCloud2, PointCloud2ConstIterator>
{
public:
  PointCloud2ConstIterator(const sensor_msgs::PointCloud2 &cloud_msg, const std::string &field_name) :
    impl::PointCloud2IteratorBase<T, const T, const unsigned char, const sensor_msgs::PointCloud2, sensor_msgs::PointCloud2ConstIterator>::PointCloud2IteratorBase(cloud_msg, field_name) {}
};
}

#include <sensor_msgs/impl/point_cloud2_iterator.h>

#endif// SENSOR_MSGS_POINT_CLOUD2_ITERATOR_H