420f5b032b
Collection of hand-made changes to make ament_cpplint pass consisting of: - whitespace between comments - line length - header ordering - include guard formats - remove a couple `using namespace std;` - using c++ casts instead of c-style casts Signed-off-by: Sean Kelly <sean@seankelly.dev>
107 lines
3.9 KiB
C++
107 lines
3.9 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2009, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id: concatenate_fields.h 35052 2011-01-03 21:04:57Z rusu $
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*
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*/
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#ifndef PCL_ROS__IO__CONCATENATE_FIELDS_HPP_
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#define PCL_ROS__IO__CONCATENATE_FIELDS_HPP_
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// ROS includes
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#include <nodelet_topic_tools/nodelet_lazy.h>
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#include <message_filters/subscriber.h>
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#include <message_filters/synchronizer.h>
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#include <message_filters/sync_policies/exact_time.h>
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#include <message_filters/sync_policies/approximate_time.h>
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#include <sensor_msgs/PointCloud2.h>
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#include <map>
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#include <vector>
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namespace pcl_ros
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{
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/** \brief @b PointCloudConcatenateFieldsSynchronizer is a special form of data synchronizer: it listens for a set of
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* input PointCloud messages on the same topic, checks their timestamps, and concatenates their fields together into
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* a single PointCloud output message.
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* \author Radu Bogdan Rusu
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*/
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class PointCloudConcatenateFieldsSynchronizer : public nodelet_topic_tools::NodeletLazy
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{
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public:
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typedef sensor_msgs::PointCloud2 PointCloud;
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typedef PointCloud::Ptr PointCloudPtr;
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typedef PointCloud::ConstPtr PointCloudConstPtr;
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/** \brief Empty constructor. */
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PointCloudConcatenateFieldsSynchronizer()
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: maximum_queue_size_(3), maximum_seconds_(0) {}
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/** \brief Empty constructor.
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* \param queue_size the maximum queue size
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*/
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explicit PointCloudConcatenateFieldsSynchronizer(int queue_size)
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: maximum_queue_size_(queue_size), maximum_seconds_(0) {}
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/** \brief Empty destructor. */
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virtual ~PointCloudConcatenateFieldsSynchronizer() {}
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void onInit();
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void subscribe();
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void unsubscribe();
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void input_callback(const PointCloudConstPtr & cloud);
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private:
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/** \brief The input PointCloud subscriber. */
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ros::Subscriber sub_input_;
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/** \brief The output PointCloud publisher. */
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ros::Publisher pub_output_;
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/** \brief The number of input messages that we expect on the input topic. */
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int input_messages_;
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/** \brief The maximum number of messages that we can store in the queue. */
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int maximum_queue_size_;
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/** \brief The maximum number of seconds to wait until we drop the synchronization. */
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double maximum_seconds_;
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/** \brief A queue for messages. */
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std::map<ros::Time, std::vector<PointCloudConstPtr>> queue_;
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};
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} // namespace pcl_ros
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#endif // PCL_ROS__IO__CONCATENATE_FIELDS_HPP_
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