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mjcarrollmjcarroll
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Uncrustify.
Signed-off-by: Michael Carroll <[email protected]>
1 parent bf4a9ce commit 76d563a

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-119
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‎sensor_msgs/include/sensor_msgs/point_field_conversion.hpp‎

Lines changed: 149 additions & 119 deletions
Original file line numberDiff line numberDiff line change
@@ -43,129 +43,159 @@
4343
* a PointCloud2 buffer for the different PointField types.
4444
* \author Sebastian Pütz
4545
*/
46-
namespace sensor_msgs{
47-
/*!
48-
* \Enum to type mapping.
49-
*/
50-
template<int> struct pointFieldTypeAsType {};
51-
template<> struct pointFieldTypeAsType<sensor_msgs::PointField::INT8> { typedef int8_t type; };
52-
template<> struct pointFieldTypeAsType<sensor_msgs::PointField::UINT8> { typedef uint8_t type; };
53-
template<> struct pointFieldTypeAsType<sensor_msgs::PointField::INT16> { typedef int16_t type; };
54-
template<> struct pointFieldTypeAsType<sensor_msgs::PointField::UINT16> { typedef uint16_t type; };
55-
template<> struct pointFieldTypeAsType<sensor_msgs::PointField::INT32> { typedef int32_t type; };
56-
template<> struct pointFieldTypeAsType<sensor_msgs::PointField::UINT32> { typedef uint32_t type; };
57-
template<> struct pointFieldTypeAsType<sensor_msgs::PointField::FLOAT32> { typedef float type; };
58-
template<> struct pointFieldTypeAsType<sensor_msgs::PointField::FLOAT64> { typedef double type; };
46+
namespace sensor_msgs
47+
{
48+
/*!
49+
* \Enum to type mapping.
50+
*/
51+
template<int>
52+
struct pointFieldTypeAsType {};
53+
template<>
54+
struct pointFieldTypeAsType<sensor_msgs::PointField::INT8>{ typedef int8_t type; };
55+
template<>
56+
struct pointFieldTypeAsType<sensor_msgs::PointField::UINT8>{ typedef uint8_t type; };
57+
template<>
58+
struct pointFieldTypeAsType<sensor_msgs::PointField::INT16>{ typedef int16_t type; };
59+
template<>
60+
struct pointFieldTypeAsType<sensor_msgs::PointField::UINT16>{ typedef uint16_t type; };
61+
template<>
62+
struct pointFieldTypeAsType<sensor_msgs::PointField::INT32>{ typedef int32_t type; };
63+
template<>
64+
struct pointFieldTypeAsType<sensor_msgs::PointField::UINT32>{ typedef uint32_t type; };
65+
template<>
66+
struct pointFieldTypeAsType<sensor_msgs::PointField::FLOAT32>{ typedef float type; };
67+
template<>
68+
struct pointFieldTypeAsType<sensor_msgs::PointField::FLOAT64>{ typedef double type; };
5969

60-
/*!
61-
* \Type to enum mapping.
62-
*/
63-
template<typename T> struct typeAsPointFieldType {};
64-
template<> struct typeAsPointFieldType<int8_t> { static const uint8_t value = sensor_msgs::PointField::INT8; };
65-
template<> struct typeAsPointFieldType<uint8_t> { static const uint8_t value = sensor_msgs::PointField::UINT8; };
66-
template<> struct typeAsPointFieldType<int16_t> { static const uint8_t value = sensor_msgs::PointField::INT16; };
67-
template<> struct typeAsPointFieldType<uint16_t> { static const uint8_t value = sensor_msgs::PointField::UINT16; };
68-
template<> struct typeAsPointFieldType<int32_t> { static const uint8_t value = sensor_msgs::PointField::INT32; };
69-
template<> struct typeAsPointFieldType<uint32_t> { static const uint8_t value = sensor_msgs::PointField::UINT32; };
70-
template<> struct typeAsPointFieldType<float> { static const uint8_t value = sensor_msgs::PointField::FLOAT32; };
71-
template<> struct typeAsPointFieldType<double> { static const uint8_t value = sensor_msgs::PointField::FLOAT64; };
70+
/*!
71+
* \Type to enum mapping.
72+
*/
73+
template<typename T>
74+
struct typeAsPointFieldType {};
75+
template<>
76+
struct typeAsPointFieldType<int8_t>{ static const uint8_t value = sensor_msgs::PointField::INT8; };
77+
template<>
78+
struct typeAsPointFieldType<uint8_t>{ static const uint8_t value = sensor_msgs::PointField::UINT8;
79+
};
80+
template<>
81+
struct typeAsPointFieldType<int16_t>{ static const uint8_t value = sensor_msgs::PointField::INT16;
82+
};
83+
template<>
84+
struct typeAsPointFieldType<uint16_t>{ static const uint8_t value = sensor_msgs::PointField::UINT16;
85+
};
86+
template<>
87+
struct typeAsPointFieldType<int32_t>{ static const uint8_t value = sensor_msgs::PointField::INT32;
88+
};
89+
template<>
90+
struct typeAsPointFieldType<uint32_t>{ static const uint8_t value = sensor_msgs::PointField::UINT32;
91+
};
92+
template<>
93+
struct typeAsPointFieldType<float>{ static const uint8_t value = sensor_msgs::PointField::FLOAT32;
94+
};
95+
template<>
96+
struct typeAsPointFieldType<double>{ static const uint8_t value = sensor_msgs::PointField::FLOAT64;
97+
};
7298

73-
/*!
74-
* \Converts a value at the given pointer position, interpreted as the datatype
75-
* specified by the given template argument point_field_type, to the given
76-
* template type T and returns it.
77-
* \param data_ptr pointer into the point cloud 2 buffer
78-
* \tparam point_field_type sensor_msgs::PointField datatype value
79-
* \tparam T return type
80-
*/
81-
template<int point_field_type, typename T>
82-
inline T readPointCloud2BufferValue(const unsigned char* data_ptr){
83-
typedef typename pointFieldTypeAsType<point_field_type>::type type;
84-
return static_cast<T>(*(reinterpret_cast<type const *>(data_ptr)));
85-
}
99+
/*!
100+
* \Converts a value at the given pointer position, interpreted as the datatype
101+
* specified by the given template argument point_field_type, to the given
102+
* template type T and returns it.
103+
* \param data_ptr pointer into the point cloud 2 buffer
104+
* \tparam point_field_type sensor_msgs::PointField datatype value
105+
* \tparam T return type
106+
*/
107+
template<int point_field_type, typename T>
108+
inline T readPointCloud2BufferValue(const unsigned char * data_ptr)
109+
{
110+
typedef typename pointFieldTypeAsType<point_field_type>::type type;
111+
return static_cast<T>(*(reinterpret_cast<type const *>(data_ptr)));
112+
}
86113

87-
/*!
88-
* \Converts a value at the given pointer position interpreted as the datatype
89-
* specified by the given datatype parameter to the given template type and returns it.
90-
* \param data_ptr pointer into the point cloud 2 buffer
91-
* \param datatype sensor_msgs::PointField datatype value
92-
* \tparam T return type
93-
*/
94-
template<typename T>
95-
inline T readPointCloud2BufferValue(const unsigned char* data_ptr, const unsigned char datatype){
96-
switch(datatype){
97-
case sensor_msgs::PointField::INT8:
98-
return readPointCloud2BufferValue<sensor_msgs::PointField::INT8, T>(data_ptr);
99-
case sensor_msgs::PointField::UINT8:
100-
return readPointCloud2BufferValue<sensor_msgs::PointField::UINT8, T>(data_ptr);
101-
case sensor_msgs::PointField::INT16:
102-
return readPointCloud2BufferValue<sensor_msgs::PointField::INT16, T>(data_ptr);
103-
case sensor_msgs::PointField::UINT16:
104-
return readPointCloud2BufferValue<sensor_msgs::PointField::UINT16, T>(data_ptr);
105-
case sensor_msgs::PointField::INT32:
106-
return readPointCloud2BufferValue<sensor_msgs::PointField::INT32, T>(data_ptr);
107-
case sensor_msgs::PointField::UINT32:
108-
return readPointCloud2BufferValue<sensor_msgs::PointField::UINT32, T>(data_ptr);
109-
case sensor_msgs::PointField::FLOAT32:
110-
return readPointCloud2BufferValue<sensor_msgs::PointField::FLOAT32, T>(data_ptr);
111-
case sensor_msgs::PointField::FLOAT64:
112-
return readPointCloud2BufferValue<sensor_msgs::PointField::FLOAT64, T>(data_ptr);
113-
}
114-
// This should never be reached, but return statement added to avoid compiler warning. (#84)
115-
return T();
116-
}
114+
/*!
115+
* \Converts a value at the given pointer position interpreted as the datatype
116+
* specified by the given datatype parameter to the given template type and returns it.
117+
* \param data_ptr pointer into the point cloud 2 buffer
118+
* \param datatype sensor_msgs::PointField datatype value
119+
* \tparam T return type
120+
*/
121+
template<typename T>
122+
inline T readPointCloud2BufferValue(const unsigned char * data_ptr, const unsigned char datatype)
123+
{
124+
switch (datatype) {
125+
case sensor_msgs::PointField::INT8:
126+
return readPointCloud2BufferValue<sensor_msgs::PointField::INT8, T>(data_ptr);
127+
case sensor_msgs::PointField::UINT8:
128+
return readPointCloud2BufferValue<sensor_msgs::PointField::UINT8, T>(data_ptr);
129+
case sensor_msgs::PointField::INT16:
130+
return readPointCloud2BufferValue<sensor_msgs::PointField::INT16, T>(data_ptr);
131+
case sensor_msgs::PointField::UINT16:
132+
return readPointCloud2BufferValue<sensor_msgs::PointField::UINT16, T>(data_ptr);
133+
case sensor_msgs::PointField::INT32:
134+
return readPointCloud2BufferValue<sensor_msgs::PointField::INT32, T>(data_ptr);
135+
case sensor_msgs::PointField::UINT32:
136+
return readPointCloud2BufferValue<sensor_msgs::PointField::UINT32, T>(data_ptr);
137+
case sensor_msgs::PointField::FLOAT32:
138+
return readPointCloud2BufferValue<sensor_msgs::PointField::FLOAT32, T>(data_ptr);
139+
case sensor_msgs::PointField::FLOAT64:
140+
return readPointCloud2BufferValue<sensor_msgs::PointField::FLOAT64, T>(data_ptr);
141+
}
142+
// This should never be reached, but return statement added to avoid compiler warning. (#84)
143+
return T();
144+
}
117145

118-
/*!
119-
* \Inserts a given value at the given point position interpreted as the datatype
120-
* specified by the template argument point_field_type.
121-
* \param data_ptr pointer into the point cloud 2 buffer
122-
* \param value the value to insert
123-
* \tparam point_field_type sensor_msgs::PointField datatype value
124-
* \tparam T type of the value to insert
125-
*/
126-
template<int point_field_type, typename T>
127-
inline void writePointCloud2BufferValue(unsigned char* data_ptr, T value){
128-
typedef typename pointFieldTypeAsType<point_field_type>::type type;
129-
*(reinterpret_cast<type*>(data_ptr)) = static_cast<type>(value);
130-
}
146+
/*!
147+
* \Inserts a given value at the given point position interpreted as the datatype
148+
* specified by the template argument point_field_type.
149+
* \param data_ptr pointer into the point cloud 2 buffer
150+
* \param value the value to insert
151+
* \tparam point_field_type sensor_msgs::PointField datatype value
152+
* \tparam T type of the value to insert
153+
*/
154+
template<int point_field_type, typename T>
155+
inline void writePointCloud2BufferValue(unsigned char * data_ptr, T value)
156+
{
157+
typedef typename pointFieldTypeAsType<point_field_type>::type type;
158+
*(reinterpret_cast<type *>(data_ptr)) = static_cast<type>(value);
159+
}
131160

132-
/*!
133-
* \Inserts a given value at the given point position interpreted as the datatype
134-
* specified by the given datatype parameter.
135-
* \param data_ptr pointer into the point cloud 2 buffer
136-
* \param datatype sensor_msgs::PointField datatype value
137-
* \param value the value to insert
138-
* \tparam T type of the value to insert
139-
*/
140-
template<typename T>
141-
inline void writePointCloud2BufferValue(unsigned char* data_ptr, const unsigned char datatype, T value){
142-
switch(datatype){
143-
case sensor_msgs::PointField::INT8:
144-
writePointCloud2BufferValue<sensor_msgs::PointField::INT8, T>(data_ptr, value);
145-
break;
146-
case sensor_msgs::PointField::UINT8:
147-
writePointCloud2BufferValue<sensor_msgs::PointField::UINT8, T>(data_ptr, value);
148-
break;
149-
case sensor_msgs::PointField::INT16:
150-
writePointCloud2BufferValue<sensor_msgs::PointField::INT16, T>(data_ptr, value);
151-
break;
152-
case sensor_msgs::PointField::UINT16:
153-
writePointCloud2BufferValue<sensor_msgs::PointField::UINT16, T>(data_ptr, value);
154-
break;
155-
case sensor_msgs::PointField::INT32:
156-
writePointCloud2BufferValue<sensor_msgs::PointField::INT32, T>(data_ptr, value);
157-
break;
158-
case sensor_msgs::PointField::UINT32:
159-
writePointCloud2BufferValue<sensor_msgs::PointField::UINT32, T>(data_ptr, value);
160-
break;
161-
case sensor_msgs::PointField::FLOAT32:
162-
writePointCloud2BufferValue<sensor_msgs::PointField::FLOAT32, T>(data_ptr, value);
163-
break;
164-
case sensor_msgs::PointField::FLOAT64:
165-
writePointCloud2BufferValue<sensor_msgs::PointField::FLOAT64, T>(data_ptr, value);
166-
break;
167-
}
168-
}
161+
/*!
162+
* \Inserts a given value at the given point position interpreted as the datatype
163+
* specified by the given datatype parameter.
164+
* \param data_ptr pointer into the point cloud 2 buffer
165+
* \param datatype sensor_msgs::PointField datatype value
166+
* \param value the value to insert
167+
* \tparam T type of the value to insert
168+
*/
169+
template<typename T>
170+
inline void writePointCloud2BufferValue(unsigned char * data_ptr, const unsigned char datatype,
171+
T value)
172+
{
173+
switch (datatype) {
174+
case sensor_msgs::PointField::INT8:
175+
writePointCloud2BufferValue<sensor_msgs::PointField::INT8, T>(data_ptr, value);
176+
break;
177+
case sensor_msgs::PointField::UINT8:
178+
writePointCloud2BufferValue<sensor_msgs::PointField::UINT8, T>(data_ptr, value);
179+
break;
180+
case sensor_msgs::PointField::INT16:
181+
writePointCloud2BufferValue<sensor_msgs::PointField::INT16, T>(data_ptr, value);
182+
break;
183+
case sensor_msgs::PointField::UINT16:
184+
writePointCloud2BufferValue<sensor_msgs::PointField::UINT16, T>(data_ptr, value);
185+
break;
186+
case sensor_msgs::PointField::INT32:
187+
writePointCloud2BufferValue<sensor_msgs::PointField::INT32, T>(data_ptr, value);
188+
break;
189+
case sensor_msgs::PointField::UINT32:
190+
writePointCloud2BufferValue<sensor_msgs::PointField::UINT32, T>(data_ptr, value);
191+
break;
192+
case sensor_msgs::PointField::FLOAT32:
193+
writePointCloud2BufferValue<sensor_msgs::PointField::FLOAT32, T>(data_ptr, value);
194+
break;
195+
case sensor_msgs::PointField::FLOAT64:
196+
writePointCloud2BufferValue<sensor_msgs::PointField::FLOAT64, T>(data_ptr, value);
197+
break;
198+
}
169199
}
200+
} // namespace sensor_msgs
170201
#endif // SENSOR_MSGS__POINT_FIELD_CONVERSION_HPP_
171-

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