Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * 00037 */ 00038 #ifndef PCL_COMMON_CONCATENATE_H_ 00039 #define PCL_COMMON_CONCATENATE_H_ 00040 00041 #include "pcl/ros/conversions.h" 00042 00043 namespace pcl 00044 { 00048 template<typename PointInT, typename PointOutT> 00049 struct NdConcatenateFunctor 00050 { 00051 typedef typename traits::POD<PointInT>::type PodIn; 00052 typedef typename traits::POD<PointOutT>::type PodOut; 00053 00054 NdConcatenateFunctor (const PointInT &p1, PointOutT &p2) 00055 : p1_ (reinterpret_cast<const PodIn&>(p1)), p2_ (reinterpret_cast<PodOut&>(p2)) { } 00056 00057 template<typename Key> inline void operator() () 00058 { 00059 // This sucks without Fusion :( 00060 //boost::fusion::at_key<Key> (p2_) = boost::fusion::at_key<Key> (p1_); 00061 typedef typename pcl::traits::datatype<PointInT, Key>::type InT; 00062 typedef typename pcl::traits::datatype<PointOutT, Key>::type OutT; 00063 // Note: don't currently support different types for the same field (e.g. converting double to float) 00064 BOOST_MPL_ASSERT_MSG((boost::is_same<InT, OutT>::value), 00065 POINT_IN_AND_POINT_OUT_HAVE_DIFFERENT_TYPES_FOR_FIELD, 00066 (Key, PointInT&, InT, PointOutT&, OutT)); 00067 memcpy (reinterpret_cast<uint8_t*>(&p2_) + pcl::traits::offset<PointOutT, Key>::value, 00068 reinterpret_cast<const uint8_t*>(&p1_) + pcl::traits::offset<PointInT, Key>::value, 00069 sizeof (InT)); 00070 } 00071 00072 private: 00073 const PodIn &p1_; 00074 PodOut &p2_; 00075 }; 00076 } 00077 00078 #endif // PCL_COMMON_CONCATENATE_H_ 00079