Fawkes API
Fawkes Development Version
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Adapter base class. More...
#include <>>
Public Member Functions | |
virtual | ~StorageAdapter () |
Virtual empty destructor. More... | |
template<typename PointT > | |
bool | is_pointtype () const |
Check if storage adapter is for specified point type. More... | |
template<typename PointT > | |
PointCloudStorageAdapter< PointT > * | as_pointtype () |
Transform to specific PointCloudStorageAdapter. More... | |
virtual void | transform (const std::string &target_frame, const tf::Transformer &transformer)=0 |
Transform point cloud. More... | |
virtual void | transform (const std::string &target_frame, const Time &target_time, const std::string &fixed_frame, const tf::Transformer &transformer)=0 |
Transform point cloud. More... | |
virtual const char * | get_typename ()=0 |
Get typename of storage adapter. More... | |
virtual StorageAdapter * | clone () const =0 |
Clone this storage adapter. More... | |
virtual size_t | point_size () const =0 |
Get size of a point. More... | |
virtual unsigned int | width () const =0 |
Get width of point cloud. More... | |
virtual unsigned int | height () const =0 |
Get height of point cloud. More... | |
virtual size_t | num_points () const =0 |
Get numer of points in point cloud. More... | |
virtual void * | data_ptr () const =0 |
Get pointer on data. More... | |
virtual std::string | frame_id () const =0 |
Get frame ID of point cloud. More... | |
virtual void | get_time (fawkes::Time &time) const =0 |
Get last capture time. More... | |
Adapter base class.
The adapter base class is required to store point clouds of arbitrary point types.
Definition at line 40 of file storage_adapter.h.
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inlinevirtual |
Virtual empty destructor.
Definition at line 43 of file storage_adapter.h.
References as_pointtype(), clone(), data_ptr(), frame_id(), get_time(), get_typename(), height(), is_pointtype(), num_points(), point_size(), transform(), and width().
PointCloudStorageAdapter< PointT > * fawkes::pcl_utils::StorageAdapter::as_pointtype | ( | ) |
Transform to specific PointCloudStorageAdapter.
Exception | thrown if storage adapter is not of requested point type or does not exist |
Definition at line 133 of file storage_adapter.h.
Referenced by ~StorageAdapter().
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pure virtual |
Clone this storage adapter.
Implemented in fawkes::pcl_utils::PointCloudStorageAdapter< PointT >.
Referenced by fawkes::pcl_utils::PointCloudStorageAdapter< PointT >::cloud_const_ptr(), and ~StorageAdapter().
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pure virtual |
Get pointer on data.
Implemented in fawkes::pcl_utils::PointCloudStorageAdapter< PointT >.
Referenced by PointCloudAdapter::get_data(), and ~StorageAdapter().
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pure virtual |
Get frame ID of point cloud.
Implemented in fawkes::pcl_utils::PointCloudStorageAdapter< PointT >.
Referenced by PointCloudAdapter::get_data(), and ~StorageAdapter().
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pure virtual |
Get last capture time.
time | upon return contains last capture time |
Implemented in fawkes::pcl_utils::PointCloudStorageAdapter< PointT >.
Referenced by fawkes::pcl_utils::PointCloudStorageAdapter< PointT >::frame_id(), PointCloudAdapter::get_data(), and ~StorageAdapter().
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pure virtual |
Get typename of storage adapter.
Implemented in fawkes::pcl_utils::PointCloudStorageAdapter< PointT >.
Referenced by ~StorageAdapter().
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pure virtual |
Get height of point cloud.
Implemented in fawkes::pcl_utils::PointCloudStorageAdapter< PointT >.
Referenced by PointCloudAdapter::get_data(), and ~StorageAdapter().
bool fawkes::pcl_utils::StorageAdapter::is_pointtype | ( | ) | const |
Check if storage adapter is for specified point type.
Definition at line 123 of file storage_adapter.h.
Referenced by ~StorageAdapter().
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pure virtual |
Get numer of points in point cloud.
Implemented in fawkes::pcl_utils::PointCloudStorageAdapter< PointT >.
Referenced by PointCloudAdapter::get_data(), and ~StorageAdapter().
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pure virtual |
Get size of a point.
Implemented in fawkes::pcl_utils::PointCloudStorageAdapter< PointT >.
Referenced by PointCloudAdapter::get_data(), and ~StorageAdapter().
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pure virtual |
Transform point cloud.
target_frame | frame to transform to |
transformer | transformer to get transform from |
Implemented in fawkes::pcl_utils::PointCloudStorageAdapter< PointT >.
Referenced by fawkes::pcl_utils::PointCloudStorageAdapter< PointT >::cloud_const_ptr(), and ~StorageAdapter().
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pure virtual |
Transform point cloud.
target_frame | frame to transform to |
target_time | time for which to transform |
fixed_frame | frame fixed over time |
transformer | transformer to get transform from |
Implemented in fawkes::pcl_utils::PointCloudStorageAdapter< PointT >.
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pure virtual |
Get width of point cloud.
Implemented in fawkes::pcl_utils::PointCloudStorageAdapter< PointT >.
Referenced by PointCloudAdapter::get_data(), and ~StorageAdapter().