.. _program_listing_file__tmp_ws_src_point_cloud_msg_wrapper_point_cloud_msg_wrapper_include_point_cloud_msg_wrapper_field_properties.hpp:

Program Listing for File field_properties.hpp
=============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_point_cloud_msg_wrapper_point_cloud_msg_wrapper_include_point_cloud_msg_wrapper_field_properties.hpp>` (``/tmp/ws/src/point_cloud_msg_wrapper/point_cloud_msg_wrapper/include/point_cloud_msg_wrapper/field_properties.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 Apex.AI, Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   
   #ifndef POINT_CLOUD_MSG_WRAPPER__FIELD_PROPERTIES_HPP_
   #define POINT_CLOUD_MSG_WRAPPER__FIELD_PROPERTIES_HPP_
   
   #include <sensor_msgs/msg/point_cloud2.hpp>
   
   #include <cstdint>
   
   namespace point_cloud_msg_wrapper
   {
   
   inline std::uint32_t sizeof_field(const std::uint8_t datatype)
   {
     switch (datatype) {
       case sensor_msgs::msg::PointField::INT8:
       case sensor_msgs::msg::PointField::UINT8:
         return 2U;
       case sensor_msgs::msg::PointField::INT16:
       case sensor_msgs::msg::PointField::UINT16:
         return 2U;
       case sensor_msgs::msg::PointField::INT32:
       case sensor_msgs::msg::PointField::UINT32:
       case sensor_msgs::msg::PointField::FLOAT32:
         return 4U;
       case sensor_msgs::msg::PointField::FLOAT64:
         return 8U;
     }
     throw std::runtime_error("Unexpected datatype provided");
   }
   
   template<typename T>
   inline constexpr std::uint32_t get_field_count()
   {
     static_assert(sizeof(T) == -1, "Only specializations of this function are expected");
     return 0U;
   }
   
   template<typename T>
   inline constexpr std::uint8_t get_field_datatype()
   {
     static_assert(sizeof(T) == -1, "Only specializations of this function are expected");
     return 0U;
   }
   
   template<>
   inline constexpr std::uint32_t get_field_count<float>() {return 1U;}
   template<>
   inline constexpr std::uint32_t get_field_count<double>() {return 1U;}
   template<>
   inline constexpr std::uint32_t get_field_count<std::int8_t>() {return 1U;}
   template<>
   inline constexpr std::uint32_t get_field_count<std::uint8_t>() {return 1U;}
   template<>
   inline constexpr std::uint32_t get_field_count<std::int16_t>() {return 1U;}
   template<>
   inline constexpr std::uint32_t get_field_count<std::uint16_t>() {return 1U;}
   template<>
   inline constexpr std::uint32_t get_field_count<std::int32_t>() {return 1U;}
   template<>
   inline constexpr std::uint32_t get_field_count<std::uint32_t>() {return 1U;}
   template<>
   inline constexpr std::uint32_t get_field_count<std::int64_t>() {return 2U;}
   template<>
   inline constexpr std::uint32_t get_field_count<std::uint64_t>() {return 2U;}
   
   template<>
   inline constexpr std::uint8_t get_field_datatype<float>()
   {
     return sensor_msgs::msg::PointField::FLOAT32;
   }
   template<>
   inline constexpr std::uint8_t get_field_datatype<double>()
   {
     return sensor_msgs::msg::PointField::FLOAT64;
   }
   template<>
   inline constexpr std::uint8_t get_field_datatype<std::int8_t>()
   {
     return sensor_msgs::msg::PointField::INT8;
   }
   template<>
   inline constexpr std::uint8_t get_field_datatype<std::uint8_t>()
   {
     return sensor_msgs::msg::PointField::UINT8;
   }
   template<>
   inline constexpr std::uint8_t get_field_datatype<std::int16_t>()
   {
     return sensor_msgs::msg::PointField::INT16;
   }
   template<>
   inline constexpr std::uint8_t get_field_datatype<std::uint16_t>()
   {
     return sensor_msgs::msg::PointField::UINT16;
   }
   template<>
   inline constexpr std::uint8_t get_field_datatype<std::int32_t>()
   {
     return sensor_msgs::msg::PointField::INT32;
   }
   template<>
   inline constexpr std::uint8_t get_field_datatype<std::uint32_t>()
   {
     return sensor_msgs::msg::PointField::UINT32;
   }
   template<>
   inline constexpr std::uint8_t get_field_datatype<std::int64_t>()
   {
     return sensor_msgs::msg::PointField::INT32;
   }
   template<>
   inline constexpr std::uint8_t get_field_datatype<std::uint64_t>()
   {
     return sensor_msgs::msg::PointField::UINT32;
   }
   
   }  // namespace point_cloud_msg_wrapper
   
   #endif  // POINT_CLOUD_MSG_WRAPPER__FIELD_PROPERTIES_HPP_