mrpt_bridge: point_cloud.h Source File

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00001 #ifndef MRPT_BRIDGE_POINT_CLOUD_H
00002 #define MRPT_BRIDGE_POINT_CLOUD_H
00003 
00004 #include <sensor_msgs/PointCloud.h>
00005 
00006 #include <mrpt/version.h>
00007 #include <mrpt/maps/CSimplePointsMap.h>
00008 #include <mrpt/maps/CColouredPointsMap.h>
00009 using namespace mrpt::maps;
00010 
00011 namespace mrpt_bridge
00012 {
00019 namespace point_cloud
00020 {
00027 bool ros2mrpt(const sensor_msgs::PointCloud& msg, CSimplePointsMap& obj);
00028 
00038 bool mrpt2ros(
00039         const CSimplePointsMap& obj, const std_msgs::Header& msg_header,
00040         sensor_msgs::PointCloud& msg);
00041 }  // end of PointCloud
00042 
00045 }  // namespace mrpt_bridge
00046 
00047 #endif  // MRPT_BRIDGE_POINT_CLOUD_H