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fawkes::pcl_utils::StorageAdapter Class Referenceabstract

#include <>>

Inheritance diagram for fawkes::pcl_utils::StorageAdapter:

Public Member Functions

virtual ~StorageAdapter ()
 Virtual empty destructor. More...
 
template<typename PointT >
bool is_pointtype () const
 
template<typename PointT >
PointCloudStorageAdapter< PointT > * as_pointtype ()
 
virtual void transform (const std::string &target_frame, const tf::Transformer &transformer)=0
 
virtual void transform (const std::string &target_frame, const Time &target_time, const std::string &fixed_frame, const tf::Transformer &transformer)=0
 
virtual const char * get_typename ()=0
 
virtual StorageAdapterclone () const =0
 
virtual size_t point_size () const =0
 
virtual unsigned int width () const =0
 
virtual unsigned int height () const =0
 
virtual size_t num_points () const =0
 
virtual void * data_ptr () const =0
 
virtual std::string frame_id () const =0
 
virtual void get_time (fawkes::Time &time) const =0
 

Detailed Description

Adapter base class. The adapter base class is required to store point clouds of arbitrary point types.

Author
Tim Niemueller

Definition at line 45 of file storage_adapter.h.

Constructor & Destructor Documentation

◆ ~StorageAdapter()

virtual fawkes::pcl_utils::StorageAdapter::~StorageAdapter ( )
inlinevirtual

Virtual empty destructor.

Definition at line 49 of file storage_adapter.h.

Member Function Documentation

◆ as_pointtype()

template<typename PointT >
PointCloudStorageAdapter< PointT > * fawkes::pcl_utils::StorageAdapter::as_pointtype ( )

Transform to specific PointCloudStorageAdapter.

Returns
transformed PointCloudStorageAdapter
Exceptions
Exceptionthrown if storage adapter is not of requested point type or does not exist

Definition at line 172 of file storage_adapter.h.

◆ clone()

StorageAdapter * fawkes::pcl_utils::StorageAdapter::clone ( ) const
pure virtual

Clone this storage adapter.

Returns
cloned copy

Implemented in fawkes::pcl_utils::PointCloudStorageAdapter< PointT >.

◆ data_ptr()

void * fawkes::pcl_utils::StorageAdapter::data_ptr ( ) const
pure virtual

Get pointer on data.

Returns
pointer on data

Implemented in fawkes::pcl_utils::PointCloudStorageAdapter< PointT >.

Referenced by PointCloudAdapter::get_data().

◆ frame_id()

std::string & fawkes::pcl_utils::StorageAdapter::frame_id ( ) const
pure virtual

Get frame ID of point cloud.

Returns
Frame ID of point cloud.

Implemented in fawkes::pcl_utils::PointCloudStorageAdapter< PointT >.

Referenced by PointCloudAdapter::get_data().

◆ get_time()

void fawkes::pcl_utils::StorageAdapter::get_time ( fawkes::Time time) const
pure virtual

Get last capture time.

Parameters
timeupon return contains last capture time

Implemented in fawkes::pcl_utils::PointCloudStorageAdapter< PointT >.

Referenced by PointCloudAdapter::get_data().

◆ get_typename()

const char * fawkes::pcl_utils::StorageAdapter::get_typename ( )
pure virtual

Get typename of storage adapter.

Returns
type name

Implemented in fawkes::pcl_utils::PointCloudStorageAdapter< PointT >.

◆ height()

unsigned int fawkes::pcl_utils::StorageAdapter::height ( ) const
pure virtual

Get height of point cloud.

Returns
height of point cloud

Implemented in fawkes::pcl_utils::PointCloudStorageAdapter< PointT >.

Referenced by PointCloudAdapter::get_data().

◆ is_pointtype()

template<typename PointT >
bool fawkes::pcl_utils::StorageAdapter::is_pointtype ( ) const

Check if storage adapter is for specified point type.

Returns
true if storage adapter is for specified point type, false otherwise

Definition at line 163 of file storage_adapter.h.

◆ num_points()

size_t fawkes::pcl_utils::StorageAdapter::num_points ( ) const
pure virtual

Get numer of points in point cloud.

Returns
number of points

Implemented in fawkes::pcl_utils::PointCloudStorageAdapter< PointT >.

Referenced by PointCloudAdapter::get_data().

◆ point_size()

size_t fawkes::pcl_utils::StorageAdapter::point_size ( ) const
pure virtual

Get size of a point.

Returns
size in bytes of a single point

Implemented in fawkes::pcl_utils::PointCloudStorageAdapter< PointT >.

Referenced by PointCloudAdapter::get_data().

◆ transform() [1/2]

void fawkes::pcl_utils::StorageAdapter::transform ( const std::string &  target_frame,
const tf::Transformer transformer 
)
pure virtual

Transform point cloud.

Parameters
target_frameframe to transform to
transformertransformer to get transform from

Implemented in fawkes::pcl_utils::PointCloudStorageAdapter< PointT >.

◆ transform() [2/2]

void fawkes::pcl_utils::StorageAdapter::transform ( const std::string &  target_frame,
const Time target_time,
const std::string &  fixed_frame,
const tf::Transformer transformer 
)
pure virtual

Transform point cloud.

Parameters
target_frameframe to transform to
target_timetime for which to transform
fixed_frameframe fixed over time
transformertransformer to get transform from

Implemented in fawkes::pcl_utils::PointCloudStorageAdapter< PointT >.

◆ width()

unsigned int fawkes::pcl_utils::StorageAdapter::width ( ) const
pure virtual

Get width of point cloud.

Returns
width of point cloud

Implemented in fawkes::pcl_utils::PointCloudStorageAdapter< PointT >.

Referenced by PointCloudAdapter::get_data().


The documentation for this class was generated from the following files: