45 lines
1.1 KiB
C
45 lines
1.1 KiB
C
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#pragma once
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#include <pcl/memory.h> // for shared_ptr
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#include <string> // for string
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#include <ostream> // for ostream
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namespace pcl
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{
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struct PCLHeader
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{
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/** \brief Sequence number */
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std::uint32_t seq = 0;
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/** \brief A timestamp associated with the time when the data was acquired
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*
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* The value represents microseconds since 1970-01-01 00:00:00 (the UNIX epoch).
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*/
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std::uint64_t stamp = 0;
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/** \brief Coordinate frame ID */
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std::string frame_id;
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using Ptr = shared_ptr<PCLHeader>;
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using ConstPtr = shared_ptr<const PCLHeader>;
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}; // struct PCLHeader
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using HeaderPtr = PCLHeader::Ptr;
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using HeaderConstPtr = PCLHeader::ConstPtr;
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inline std::ostream& operator << (std::ostream& out, const PCLHeader &h)
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{
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out << "seq: " << h.seq;
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out << " stamp: " << h.stamp;
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out << " frame_id: " << h.frame_id << std::endl;
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return (out);
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}
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inline bool operator== (const PCLHeader &lhs, const PCLHeader &rhs)
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{
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return (&lhs == &rhs) ||
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(lhs.seq == rhs.seq && lhs.stamp == rhs.stamp && lhs.frame_id == rhs.frame_id);
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}
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} // namespace pcl
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