GpuLaserDataIteratorImpl.hh
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1/*
2 * Copyright (C) 2017 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17
18
19#ifndef GAZEBO_RENDERING_GPULASERDATAITERATORIMPL_HH_
20#define GAZEBO_RENDERING_GPULASERDATAITERATORIMPL_HH_
21
22namespace gazebo
23{
24 namespace rendering
25 {
26 template <typename F>
31
32 template <typename F>
34 const GpuLaserDataIterator<F> &_rvalue) const
35 {
36 return this->index == _rvalue.index;
37 }
38
39 template <typename F>
41 const GpuLaserDataIterator<F> &_rvalue) const
42 {
43 return this->index != _rvalue.index;
44 }
45
46 template <typename F>
48 {
49 return {
50 // range
51 this->data[this->index * this->skip + this->rangeOffset],
52 // intensity
53 this->data[this->index * this->skip + this->intensityOffset],
54 // beam
55 index / this->horizontalResolution,
56 // reading
57 index % this->horizontalResolution,
58 };
59 }
60
61 template <typename F>
62 const std::unique_ptr<const GpuLaserData>
64 {
65 return std::unique_ptr<const GpuLaserData>(
66 new GpuLaserData(this->operator*()));
67 }
68
69 template <typename F>
71 {
72 ++(this->index);
73 return *this;
74 }
75
76 template <typename F>
78 {
79 GpuLaserDataIterator<F> copy = *this;
80 this->index++;
81 return copy;
82 }
83
84 template <typename F>
86 {
87 --(this->index);
88 return *this;
89 }
90
91 template <typename F>
93 {
94 GpuLaserDataIterator<F> copy = *this;
95 this->index--;
96 return copy;
97 }
98
99 template <typename F>
101 const float *_data, const unsigned int _skip, unsigned int _rangeOffset,
102 const unsigned int _intensityOffset,
103 const unsigned int _horizontalResolution) : index(_index), data(_data),
104 skip(_skip), rangeOffset(_rangeOffset),
105 intensityOffset(_intensityOffset),
106 horizontalResolution(_horizontalResolution)
107 {
108 // Do nothing
109 }
110 }
111}
112
113// GAZEBO_RENDERING_GPULASERDATAITERATORIMPL_HH_
114#endif
rendering
Definition RenderEngine.hh:31
const Bidirectional iterator for laser data
Definition GpuLaserDataIterator.hh:54
const std::unique_ptr< const GpuLaserData > operator->() const
Dereference operator iter->
Definition GpuLaserDataIteratorImpl.hh:63
GpuLaserDataIterator< F > & operator--()
Move itereator to previous (prefix: –it)
Definition GpuLaserDataIteratorImpl.hh:85
bool operator!=(const GpuLaserDataIterator &_rvalue) const
Operator !=.
Definition GpuLaserDataIteratorImpl.hh:40
GpuLaserDataIterator< F > & operator++()
Advance iterator to next reading (prefix: ++it)
Definition GpuLaserDataIteratorImpl.hh:70
GpuLaserDataIterator(const unsigned int _index, const float *_data, const unsigned int _skip, const unsigned int _rangeOffset, const unsigned int _intensityOffset, const unsigned int _horizontalResolution)
contstruct an iterator to a specified index
Definition GpuLaserDataIteratorImpl.hh:100
const GpuLaserData operator*() const
Dereference operator *iter.
Definition GpuLaserDataIteratorImpl.hh:47
bool operator==(const GpuLaserDataIterator &_rvalue) const
Operator ==.
Definition GpuLaserDataIteratorImpl.hh:33
~GpuLaserDataIterator()
Destructor.
Definition GpuLaserDataIteratorImpl.hh:27
Forward declarations for the common classes.
Definition Animation.hh:27
struct containing info about a single ray measurement
Definition GpuLaserDataIterator.hh:28