point_cloud2_iterator.h
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34 
35 #ifndef SENSOR_MSGS_POINT_CLOUD2_ITERATOR_H
36 #define SENSOR_MSGS_POINT_CLOUD2_ITERATOR_H
37 
38 #include <sensor_msgs/PointCloud2.h>
39 #include <cstdarg>
40 #include <string>
41 #include <vector>
42 
100 namespace sensor_msgs
101 {
106 {
107 public:
112  PointCloud2Modifier(PointCloud2& cloud_msg);
113 
117  size_t size() const;
118 
122  void reserve(size_t size);
123 
127  void resize(size_t size);
128 
132  void clear();
133 
151  void setPointCloud2Fields(int n_fields, ...);
152 
163  void setPointCloud2FieldsByString(int n_fields, ...);
164 protected:
166  PointCloud2& cloud_msg_;
167 };
168 
169 namespace impl
170 {
178 template<typename T, typename TT, typename U, typename C, template <typename> class V>
180 {
181 public:
185 
190  PointCloud2IteratorBase(C &cloud_msg, const std::string &field_name);
191 
196  V<T>& operator =(const V<T>& iter);
197 
203  TT& operator [](size_t i) const;
204 
208  TT& operator *() const;
209 
213  V<T>& operator ++();
214 
219  V<T> operator +(int i);
220 
224  V<T>& operator +=(int i);
225 
229  bool operator !=(const V<T>& iter) const;
230 
234  V<T> end() const;
235 
236 private:
242  int set_field(const sensor_msgs::PointCloud2 &cloud_msg, const std::string &field_name);
243 
249  TT* data_;
254 };
255 }
256 
280 template<typename T>
281 class PointCloud2Iterator : public impl::PointCloud2IteratorBase<T, T, unsigned char, sensor_msgs::PointCloud2, PointCloud2Iterator>
282 {
283 public:
284  PointCloud2Iterator(sensor_msgs::PointCloud2 &cloud_msg, const std::string &field_name) :
285  impl::PointCloud2IteratorBase<T, T, unsigned char, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2Iterator>::PointCloud2IteratorBase(cloud_msg, field_name) {}
286 };
287 
291 template<typename T>
292 class PointCloud2ConstIterator : public impl::PointCloud2IteratorBase<T, const T, const unsigned char, const sensor_msgs::PointCloud2, PointCloud2ConstIterator>
293 {
294 public:
295  PointCloud2ConstIterator(const sensor_msgs::PointCloud2 &cloud_msg, const std::string &field_name) :
296  impl::PointCloud2IteratorBase<T, const T, const unsigned char, const sensor_msgs::PointCloud2, sensor_msgs::PointCloud2ConstIterator>::PointCloud2IteratorBase(cloud_msg, field_name) {}
297 };
298 }
299 
301 
302 #endif// SENSOR_MSGS_POINT_CLOUD2_ITERATOR_H
Same as a PointCloud2Iterator but for const data.
PointCloud2Modifier(PointCloud2 &cloud_msg)
Default constructor.
void setPointCloud2Fields(int n_fields,...)
Function setting some fields in a PointCloud and adjusting the internals of the PointCloud2.
PointCloud2ConstIterator(const sensor_msgs::PointCloud2 &cloud_msg, const std::string &field_name)
PointCloud2Iterator(sensor_msgs::PointCloud2 &cloud_msg, const std::string &field_name)
Tools for manipulating sensor_msgs.
Class that can iterate over a PointCloud2.
Enables modifying a sensor_msgs::PointCloud2 like a container.
void clear()
remove all T&#39;s from the original sensor_msgs::PointCloud2
void setPointCloud2FieldsByString(int n_fields,...)
Function setting some fields in a PointCloud and adjusting the internals of the PointCloud2.


sensor_msgs
Author(s):
autogenerated on Sat Aug 15 2020 03:19:47