Template Class GenericCloudConstIterator

Inheritance Relationships

Base Type

  • public cras::impl::GenericCloudIteratorBase< unsigned char, const unsigned char, const unsigned char, const ::sensor_msgs::msg::PointCloud2, GenericCloudConstIterator > (Template Class GenericCloudIteratorBase)

Class Documentation

template<typename T = unsigned char>
class GenericCloudConstIterator : public cras::impl::GenericCloudIteratorBase<unsigned char, const unsigned char, const unsigned char, const ::sensor_msgs::msg::PointCloud2, GenericCloudConstIterator>

Generic const cloud iterator which can return the data in the raw type.

Public Functions

inline GenericCloudConstIterator(const ::sensor_msgs::msg::PointCloud2 &cloud_msg, const ::std::string &field_name)
Parameters:

  • cloud_msg – [in] The PointCloud2 to iterate upon.

  • field_name – [in] The field to iterate upon.

template<typename D>
inline const D *dataAs() const

Return the raw data converted to the given datatype. The datatype has to have the same size as the field.

Template Parameters:

D – Type of the data the field should be converted to.

Throws:

std::runtime_error – If sizeof(D) is not the same as getFieldSize().

Returns:

Pointer to the current raw data converted to the given datatype.