Fix CMake

Author: methylDragon

include/gz/msgs/PointCloudPackedUtils.hh

@@ -31,7 +31,7 @@
 #include "gz/msgs/config.hh"
 #include "gz/msgs/detail/PointCloudPackedUtils.hh"
 
-namespace ignition
+namespace gz
 {
 namespace msgs
 {

include/gz/msgs/Utility.hh

@@ -35,9 +35,8 @@
 
 /// \file Utility.hh
 /// \brief Utility functions that support conversion between message type
-/// and ignition math types.
-
-namespace ignition
+/// and gz math types.
+namespace gz
 {
   namespace msgs
   {
@@ -68,11 +67,11 @@ namespace ignition
     IGNITION_MSGS_VISIBLE
     ignition::math::Pose3d Convert(const msgs::Pose &_p);
 
-    /// \brief Convert a msgs::Color to a math::Color
+    /// \brief Convert a msgs::Color to a ignition::math::Color
     /// \param[in] _c The color to convert
-    /// \return A math::Color object
+    /// \return A ignition::math::Color object
     IGNITION_MSGS_VISIBLE
-    math::Color Convert(const msgs::Color &_c);
+    ignition::math::Color Convert(const msgs::Color &_c);
 
     /// \brief Convert a msgs::PlaneGeom to an ignition::math::Planed
     /// \param[in] _p The plane to convert
@@ -84,29 +83,29 @@ namespace ignition
     /// \param[in] _i The inertial to convert
     /// \return An ignition::math::Inertiald object
     IGNITION_MSGS_VISIBLE
-    math::Inertiald Convert(const msgs::Inertial &_i);
+    ignition::math::Inertiald Convert(const msgs::Inertial &_i);
 
     /// \brief Convert a msgs::SphericalCoordinates to an
     /// ignition::math::SphericalCoordinates
     /// \param[in] _coord The spherical coordinates to convert
     /// \return An ignition::math::SphericalCoordinates object
     IGNITION_MSGS_VISIBLE
-    math::SphericalCoordinates Convert(
+    ignition::math::SphericalCoordinates Convert(
         const msgs::SphericalCoordinates &_coord);
 
     /// \brief Convert a msgs::AxisAlignedBox to an
     /// ignition::math::AxisAlignedBox
     /// \param[in] _b The axis aligned box to convert
     /// \return An ignition::math::AxisAlignedBox object
     IGNITION_MSGS_VISIBLE
-    math::AxisAlignedBox Convert(const msgs::AxisAlignedBox &_b);
+    ignition::math::AxisAlignedBox Convert(const msgs::AxisAlignedBox &_b);
 
     /// \brief Convert ignition::math::AxisAlignedBox to
     /// msgs::AxisAlignedBox.
     /// \param[in] _b The axis aligned box to convert
     /// \return An ignition::math::AxisAlignedBox object
     IGNITION_MSGS_VISIBLE
-    msgs::AxisAlignedBox Convert(const math::AxisAlignedBox &_b);
+    msgs::AxisAlignedBox Convert(const ignition::math::AxisAlignedBox &_b);
 
     /// \brief Convert a msgs::StringMsg to an std::string
     /// \param[in] _m The message to convert
@@ -186,31 +185,31 @@ namespace ignition
     IGNITION_MSGS_VISIBLE
     msgs::Pose Convert(const ignition::math::Pose3d &_p);
 
-    /// \brief Convert a math::Color to a msgs::Color
+    /// \brief Convert a ignition::math::Color to a msgs::Color
     /// \param[in] _c The color to convert
     /// \return A msgs::Color object
     IGNITION_MSGS_VISIBLE
-    msgs::Color Convert(const math::Color &_c);
+    msgs::Color Convert(const ignition::math::Color &_c);
 
-    /// \brief Convert an math::Inertiald to a msgs::Inertial
+    /// \brief Convert an ignition::math::Inertiald to a msgs::Inertial
     /// \param[in] _i The Inertiald to convert
     /// \return A msgs::Inertial object
     IGNITION_MSGS_VISIBLE
-    msgs::Inertial Convert(const math::Inertiald &_i);
+    msgs::Inertial Convert(const ignition::math::Inertiald &_i);
 
-    /// \brief Convert an math::MassMatrix3d to a msgs::Inertial
+    /// \brief Convert an ignition::math::MassMatrix3d to a msgs::Inertial
     /// \param[in] _m The MassMatrix3d to convert
     /// \return A msgs::Inertial object
     IGNITION_MSGS_VISIBLE
-    msgs::Inertial Convert(const math::MassMatrix3d &_m);
+    msgs::Inertial Convert(const ignition::math::MassMatrix3d &_m);
 
-    /// \brief Convert an math::SphericalCoordinates to a
+    /// \brief Convert an ignition::math::SphericalCoordinates to a
     /// msgs::SphericalCoordinates
     /// \param[in] _coord The SphericalCoordinates to convert
     /// \return A msgs::SphericalCoordinates object
     IGNITION_MSGS_VISIBLE
     msgs::SphericalCoordinates Convert(
-        const math::SphericalCoordinates &_coord);
+        const ignition::math::SphericalCoordinates &_coord);
 
     /// \brief Convert a ignition::math::Planed to a msgs::PlaneGeom
     /// \param[in] _p The plane to convert
@@ -351,31 +350,31 @@ namespace ignition
     IGNITION_MSGS_VISIBLE
     void Set(msgs::Pose *_p, const ignition::math::Pose3d &_v);
 
-    /// \brief Set a msgs::Color from a math::Color
+    /// \brief Set a msgs::Color from a ignition::math::Color
     /// \param[out] _c A msgs::Color pointer
-    /// \param[in] _v A math::Color reference
+    /// \param[in] _v A ignition::math::Color reference
     IGNITION_MSGS_VISIBLE
-    void Set(msgs::Color *_c, const math::Color &_v);
+    void Set(msgs::Color *_c, const ignition::math::Color &_v);
 
-    /// \brief Set a msgs::Inertial from an math::Inertiald
+    /// \brief Set a msgs::Inertial from an ignition::math::Inertiald
     /// \param[out] _i A msgs::Inertial pointer
-    /// \param[in] _m An math::Inertiald reference
+    /// \param[in] _m An ignition::math::Inertiald reference
     IGNITION_MSGS_VISIBLE
-    void Set(msgs::Inertial *_i, const math::Inertiald &_m);
+    void Set(msgs::Inertial *_i, const ignition::math::Inertiald &_m);
 
-    /// \brief Set a msgs::Inertial from an math::MassMatrix3d
+    /// \brief Set a msgs::Inertial from an ignition::math::MassMatrix3d
     /// \param[out] _i A msgs::Inertial pointer
-    /// \param[in] _m An math::MassMatrix3d reference
+    /// \param[in] _m An ignition::math::MassMatrix3d reference
     IGNITION_MSGS_VISIBLE
-    void Set(msgs::Inertial *_i, const math::MassMatrix3d &_m);
+    void Set(msgs::Inertial *_i, const ignition::math::MassMatrix3d &_m);
 
     /// \brief Set a msgs::SphericalCoordinates from a
-    /// math::SphericalCoordinates
+    /// ignition::math::SphericalCoordinates
     /// \param[out] _sc A msgs::SphericalCoordinates pointer
-    /// \param[in] _m An math::SphericalCoordinates reference
+    /// \param[in] _m An ignition::math::SphericalCoordinates reference
     IGNITION_MSGS_VISIBLE
     void Set(msgs::SphericalCoordinates *_sc,
-        const math::SphericalCoordinates &_m);
+        const ignition::math::SphericalCoordinates &_m);
 
     /// \brief Set a msgs::Plane from an ignition::math::Planed
     /// \param[out] _p A msgs::Plane pointer
@@ -431,11 +430,11 @@ namespace ignition
     IGNITION_MSGS_VISIBLE
     void Set(msgs::Float *_p, const float &_v);
 
-    /// \brief Set a msgs::AxisAlignedBox from a math::AxisAlignedBox
+    /// \brief Set a msgs::AxisAlignedBox from a ignition::math::AxisAlignedBox
     /// \param[out] _b A msgs::AxisAlignedBox pointer
-    /// \param[in] _v An math::AxisAlignedBox reference
+    /// \param[in] _v An ignition::math::AxisAlignedBox reference
     IGNITION_MSGS_VISIBLE
-    void Set(msgs::AxisAlignedBox *_b, const math::AxisAlignedBox &_v);
+    void Set(msgs::AxisAlignedBox *_b, const ignition::math::AxisAlignedBox &_v);
 
     /// \brief This function will set the header and field members of
     /// a PointCloudPacked message. This will clear existing values in the

include/gz/msgs/detail/PointCloudPackedUtils.hh

@@ -28,7 +28,7 @@
 
 #include "gz/msgs/config.hh"
 
-namespace ignition
+namespace gz
 {
 namespace msgs
 {
@@ -437,4 +437,5 @@ int PointCloudPackedIteratorBase<
 }
 }
 }
+
 #endif

include/ignition/msgs/PointCloudPackedUtils.hh

@@ -13,6 +13,127 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  *
- */
+*/
 
-#include <gz/msgs/PointCloudPackedUtils.hh>
+// Inspired by
+// https://github.com/ros/common_msgs/blob/275b09a/sensor_msgs/include/sensor_msgs/point_cloud2_iterator.h
+
+#ifndef IGNITION_MSGS_POINTCLOUDPACKEDUTILS_HH_
+#define IGNITION_MSGS_POINTCLOUDPACKEDUTILS_HH_
+
+#include <ignition/msgs/pointcloud_packed.pb.h>
+
+#include <cstdarg>
+#include <sstream>
+#include <string>
+#include <vector>
+
+#include "ignition/msgs/config.hh"
+#include "ignition/msgs/detail/PointCloudPackedUtils.hh"
+
+namespace ignition
+{
+namespace msgs
+{
+/// \brief Class that can iterate over a PointCloudPacked message.
+///
+/// E.g, you create your message and reserve space for data as follows:
+///
+/// \code{.cpp}
+/// ignition::msgs::PointCloudPacked pcMsg;
+/// ignition::msgs::InitPointCloudPacked(pcMsg, "my_new_frame", false,
+///     {{"a", PointCloudPacked::Field::FLOAT32}});
+/// pcMsg.mutable_data()->resize(numPts * pcMsg.point_step());
+/// \endcode
+///
+/// For iterating over "a", you do :
+///
+/// \code{.cpp}
+/// ignition::msgs::PointCloudPackedIterator<float> iterA(pcMsg, "a");
+/// \endcode
+///
+/// And then access it through iterA[0] or *iterA.
+///
+/// For iterating over RGBA, you can access each element as uint8_t:
+///
+/// \code{.cpp}
+/// ignition::msgs::PointCloudPackedIterator<uint8_t> iterR(pcMsg, "r");
+/// ignition::msgs::PointCloudPackedIterator<uint8_t> iterG(pcMsg, "g");
+/// ignition::msgs::PointCloudPackedIterator<uint8_t> iterB(pcMsg, "b");
+/// ignition::msgs::PointCloudPackedIterator<uint8_t> iterA(pcMsg, "a");
+/// \endcode
+///
+/// \tparam FieldType Type of the element being iterated upon
+template<typename FieldType>
+class PointCloudPackedIterator
+  : public PointCloudPackedIteratorBase<
+    FieldType, FieldType, char, PointCloudPacked, PointCloudPackedIterator>
+{
+  // Documentation inherited
+  public: PointCloudPackedIterator(PointCloudPacked &_cloudMsg,
+    const std::string &_fieldName)
+      : PointCloudPackedIteratorBase<FieldType, FieldType, char,
+        PointCloudPacked, PointCloudPackedIterator>
+        ::PointCloudPackedIteratorBase(_cloudMsg, _fieldName)
+  {
+  }
+};
+
+/// \brief Same as a PointCloudPackedIterator but for const data
+/// \tparam FieldType Type of the element being iterated upon
+template<typename FieldType>
+class PointCloudPackedConstIterator
+  : public PointCloudPackedIteratorBase<
+    FieldType, const FieldType, const char, const PointCloudPacked,
+    PointCloudPackedConstIterator>
+{
+  public: PointCloudPackedConstIterator(
+      const PointCloudPacked &_cloudMsg,
+      const std::string &_fieldName)
+    : PointCloudPackedIteratorBase<FieldType, const FieldType, const char,
+        const PointCloudPacked,
+        PointCloudPackedConstIterator
+    >::PointCloudPackedIteratorBase(_cloudMsg, _fieldName)
+    {
+    }
+};
+
+/// \brief Return the size of a datatype (which is an enum of
+/// ignition::msgs::PointCloudPacked::Field) in bytes.
+/// \param[in] _dataType One of the enums of
+///            ignition::msgs::PointCloudPacked::Field
+/// \return Size in bytes. Returns -1 if the type is unknown.
+inline int sizeOfPointField(
+    PointCloudPacked::Field::DataType _dataType)
+{
+  if ((_dataType == PointCloudPacked::Field::INT8) ||
+      (_dataType == PointCloudPacked::Field::UINT8))
+  {
+    return 1;
+  }
+  else if ((_dataType == PointCloudPacked::Field::INT16) ||
+           (_dataType == PointCloudPacked::Field::UINT16))
+  {
+    return 2;
+  }
+  else if ((_dataType == PointCloudPacked::Field::INT32) ||
+           (_dataType == PointCloudPacked::Field::UINT32) ||
+           (_dataType == PointCloudPacked::Field::FLOAT32))
+  {
+    return 4;
+  }
+  else if (_dataType == PointCloudPacked::Field::FLOAT64)
+  {
+    return 8;
+  }
+  else
+  {
+    std::cerr << "PointCloudPacked::Field of type [" << _dataType
+              << "] does not exist" << std::endl;
+  }
+  return -1;
+}
+}
+}
+
+#endif