79 lines
3.1 KiB
C
79 lines
3.1 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2011, Willow Garage, Inc.
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*
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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 the copyright holder(s) 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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*
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*/
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#pragma once
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#include <type_traits>
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namespace pcl
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{
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/** \brief Helper functor structure for concatenate.
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* \ingroup common
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*/
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template<typename PointInT, typename PointOutT>
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struct NdConcatenateFunctor
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{
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using PodIn = typename traits::POD<PointInT>::type;
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using PodOut = typename traits::POD<PointOutT>::type;
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NdConcatenateFunctor (const PointInT &p1, PointOutT &p2)
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: p1_ (reinterpret_cast<const PodIn&> (p1))
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, p2_ (reinterpret_cast<PodOut&> (p2)) { }
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template<typename Key> inline void
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operator () ()
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{
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// This sucks without Fusion :(
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//boost::fusion::at_key<Key> (p2_) = boost::fusion::at_key<Key> (p1_);
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using InT = typename pcl::traits::datatype<PointInT, Key>::type;
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using OutT = typename pcl::traits::datatype<PointOutT, Key>::type;
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// Note: don't currently support different types for the same field (e.g. converting double to float)
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BOOST_MPL_ASSERT_MSG ((std::is_same<InT, OutT>::value),
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POINT_IN_AND_POINT_OUT_HAVE_DIFFERENT_TYPES_FOR_FIELD,
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(Key, PointInT&, InT, PointOutT&, OutT));
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memcpy (reinterpret_cast<std::uint8_t*>(&p2_) + pcl::traits::offset<PointOutT, Key>::value,
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reinterpret_cast<const std::uint8_t*>(&p1_) + pcl::traits::offset<PointInT, Key>::value,
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sizeof (InT));
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}
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private:
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const PodIn &p1_;
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PodOut &p2_;
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};
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}
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