Point Cloud Library (PCL)  1.3.1
concatenate.h
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00001 /*
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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 
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