Fawkes API  Fawkes Development Version
pcl_adapter.h
00001 
00002 /***************************************************************************
00003  *  pcl_adapter.h - Thread to exchange point clouds
00004  *
00005  *  Created: Tue Nov 08 00:36:10 2011
00006  *  Copyright  2011  Tim Niemueller [www.niemueller.de]
00007  ****************************************************************************/
00008 
00009 /*  This program is free software; you can redistribute it and/or modify
00010  *  it under the terms of the GNU General Public License as published by
00011  *  the Free Software Foundation; either version 2 of the License, or
00012  *  (at your option) any later version.
00013  *
00014  *  This program is distributed in the hope that it will be useful,
00015  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00016  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00017  *  GNU Library General Public License for more details.
00018  *
00019  *  Read the full text in the LICENSE.GPL file in the doc directory.
00020  */
00021 
00022 #ifndef __PLUGINS_ROS_PCL_ADAPTER_H_
00023 #define __PLUGINS_ROS_PCL_ADAPTER_H_
00024 
00025 #include <utils/time/time.h>
00026 
00027 #include <map>
00028 #include <vector>
00029 #include <string>
00030 #include <stdint.h>
00031 
00032 namespace fawkes {
00033   class PointCloudManager;
00034   class Logger;
00035 }
00036 
00037 class RosPointCloudAdapter
00038 {
00039  public:
00040   /** Information about the data fields. */
00041   class PointFieldInfo {
00042    public:
00043     std::string name;   ///< Name of field
00044     uint32_t offset;    ///< Offset from start of point struct
00045     uint8_t  datatype;  ///< Datatype enumeration see above
00046     uint32_t count;     ///< How many elements in field
00047 
00048     /** Constructor for pre-allocation. */
00049     PointFieldInfo() {}
00050     /** Constructor.
00051      * @param name field name
00052      * @param offset data offset
00053      * @param datatype data type ID, see sensor_msgs::PointField
00054      * @param count number of data entries
00055      */
00056     PointFieldInfo(std::string name, uint32_t offset,
00057                    uint8_t datatype, uint32_t count)
00058     : name(name), offset(offset), datatype(datatype), count(count) {}
00059   };
00060   /** Vector of PointFieldInfo. */
00061   typedef std::vector<PointFieldInfo> V_PointFieldInfo;
00062 
00063   RosPointCloudAdapter(fawkes::PointCloudManager *pcl_manager,
00064                        fawkes::Logger *logger);
00065   ~RosPointCloudAdapter();
00066 
00067   void get_info(std::string &id,
00068                 unsigned int &width, unsigned int &height,
00069                 std::string &frame_id, bool &is_dense,
00070                 V_PointFieldInfo &pfi);
00071 
00072   void get_data(const std::string &id,
00073                 unsigned int &width, unsigned int &height, fawkes::Time &time,
00074                 void **data_ptr, size_t &point_size, size_t &num_points);
00075 
00076   void close(const std::string &id);
00077 
00078  private:
00079   fawkes::PointCloudManager *__pcl_manager;
00080 
00081   class StorageAdapter;
00082   std::map<std::string, StorageAdapter *> __sas;
00083 };
00084 
00085 
00086 #endif