Uncrustify
This commit is contained in:
Martin Idel
@@ -49,148 +49,153 @@
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namespace laser_geometry
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{
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// NOTE: invalid scan errors (will be present in LaserScan.msg in D-Turtle)
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const float LASER_SCAN_INVALID = -1.0;
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const float LASER_SCAN_MIN_RANGE = -2.0;
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const float LASER_SCAN_MAX_RANGE = -3.0;
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// NOTE: invalid scan errors (will be present in LaserScan.msg in D-Turtle)
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const float LASER_SCAN_INVALID = -1.0;
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const float LASER_SCAN_MIN_RANGE = -2.0;
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const float LASER_SCAN_MAX_RANGE = -3.0;
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namespace channel_option
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{
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//! Enumerated output channels options.
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namespace channel_option
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{
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//! Enumerated output channels options.
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/*!
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* An OR'd set of these options is passed as the final argument of
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* the projectLaser and transformLaserScanToPointCloud calls to
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* enable generation of the appropriate set of additional channels.
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*/
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enum ChannelOption
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{
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None = 0x00, //!< Enable no channels
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Intensity = 0x01, //!< Enable "intensities" channel
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Index = 0x02, //!< Enable "index" channel
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Distance = 0x04, //!< Enable "distances" channel
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Timestamp = 0x08, //!< Enable "stamps" channel
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Viewpoint = 0x10, //!< Enable "viewpoint" channel
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Default = (Intensity | Index) //!< Enable "intensities" and "index" channels
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};
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}
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//! \brief A Class to Project Laser Scan
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/*!
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* This class will project laser scans into point clouds. It caches
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* unit vectors between runs (provided the angular resolution of
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* your scanner is not changing) to avoid excess computation.
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*
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* By default all range values less than the scanner min_range, and
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* greater than the scanner max_range are removed from the generated
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* point cloud, as these are assumed to be invalid.
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*
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* If it is important to preserve a mapping between the index of
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* range values and points in the cloud, the recommended approach is
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* to pre-filter your laser_scan message to meet the requiremnt that all
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* ranges are between min and max_range.
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*
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* The generated PointClouds have a number of channels which can be enabled
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* through the use of ChannelOption.
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* - channel_option::Intensity - Create a channel named "intensities" with the intensity of the return for each point
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* - channel_option::Index - Create a channel named "index" containing the index from the original array for each point
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* - channel_option::Distance - Create a channel named "distances" containing the distance from the laser to each point
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* - channel_option::Timestamp - Create a channel named "stamps" containing the specific timestamp at which each point was measured
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*/
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class LaserProjection
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{
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public:
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LaserProjection()
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: angle_min_(0), angle_max_(0) {}
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//! Project a sensor_msgs::msg::LaserScan into a sensor_msgs::msg::PointCloud2
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/*!
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* An OR'd set of these options is passed as the final argument of
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* the projectLaser and transformLaserScanToPointCloud calls to
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* enable generation of the appropriate set of additional channels.
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* Project a single laser scan from a linear array into a 3D
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* point cloud. The generated cloud will be in the same frame
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* as the original laser scan.
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*
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* \param scan_in The input laser scan
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* \param cloud_out The output point cloud
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* \param range_cutoff An additional range cutoff which can be
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* applied to discard everything above it.
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* Defaults to -1.0, which means the laser scan max range.
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* \param channel_option An OR'd set of channels to include.
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* Options include: channel_option::Default,
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* channel_option::Intensity, channel_option::Index,
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* channel_option::Distance, channel_option::Timestamp.
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*/
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enum ChannelOption
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{
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None = 0x00, //!< Enable no channels
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Intensity = 0x01, //!< Enable "intensities" channel
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Index = 0x02, //!< Enable "index" channel
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Distance = 0x04, //!< Enable "distances" channel
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Timestamp = 0x08, //!< Enable "stamps" channel
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Viewpoint = 0x10, //!< Enable "viewpoint" channel
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Default = (Intensity | Index) //!< Enable "intensities" and "index" channels
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};
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void projectLaser(
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const sensor_msgs::msg::LaserScan & scan_in,
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sensor_msgs::msg::PointCloud2 & cloud_out,
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double range_cutoff = -1.0,
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int channel_options = channel_option::Default)
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{
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projectLaser_(scan_in, cloud_out, range_cutoff, channel_options);
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}
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//! \brief A Class to Project Laser Scan
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//! Transform a sensor_msgs::msg::LaserScan into a sensor_msgs::msg::PointCloud2 in target frame
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/*!
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* This class will project laser scans into point clouds. It caches
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* unit vectors between runs (provided the angular resolution of
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* your scanner is not changing) to avoid excess computation.
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* Transform a single laser scan from a linear array into a 3D
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* point cloud, accounting for movement of the laser over the
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* course of the scan. In order for this transform to be
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* meaningful at a single point in time, the target_frame must
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* be a fixed reference frame. See the tf documentation for
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* more information on fixed frames.
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*
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* By default all range values less than the scanner min_range, and
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* greater than the scanner max_range are removed from the generated
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* point cloud, as these are assumed to be invalid.
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*
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* If it is important to preserve a mapping between the index of
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* range values and points in the cloud, the recommended approach is
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* to pre-filter your laser_scan message to meet the requiremnt that all
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* ranges are between min and max_range.
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*
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* The generated PointClouds have a number of channels which can be enabled
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* through the use of ChannelOption.
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* - channel_option::Intensity - Create a channel named "intensities" with the intensity of the return for each point
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* - channel_option::Index - Create a channel named "index" containing the index from the original array for each point
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* - channel_option::Distance - Create a channel named "distances" containing the distance from the laser to each point
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* - channel_option::Timestamp - Create a channel named "stamps" containing the specific timestamp at which each point was measured
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* \param target_frame The frame of the resulting point cloud
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* \param scan_in The input laser scan
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* \param cloud_out The output point cloud
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* \param tf a tf2::BufferCore object to use to perform the
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* transform
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* \param range_cutoff An additional range cutoff which can be
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* applied to discard everything above it.
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* Defaults to -1.0, which means the laser scan max range.
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* \param channel_option An OR'd set of channels to include.
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* Options include: channel_option::Default,
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* channel_option::Intensity, channel_option::Index,
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* channel_option::Distance, channel_option::Timestamp.
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*/
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class LaserProjection
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{
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void transformLaserScanToPointCloud(
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const std::string & target_frame,
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const sensor_msgs::msg::LaserScan & scan_in,
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sensor_msgs::msg::PointCloud2 & cloud_out,
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tf2::BufferCore & tf,
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double range_cutoff = -1.0,
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int channel_options = channel_option::Default)
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{
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transformLaserScanToPointCloud_(target_frame, scan_in, cloud_out, tf, range_cutoff,
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channel_options);
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}
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public:
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private:
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//! Internal hidden representation of projectLaser
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void projectLaser_(
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const sensor_msgs::msg::LaserScan & scan_in,
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sensor_msgs::msg::PointCloud2 & cloud_out,
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double range_cutoff,
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int channel_options);
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LaserProjection() : angle_min_(0), angle_max_(0) {}
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//! Internal hidden representation of transformLaserScanToPointCloud2
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void transformLaserScanToPointCloud_(
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const std::string & target_frame,
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const sensor_msgs::msg::LaserScan & scan_in,
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sensor_msgs::msg::PointCloud2 & cloud_out,
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tf2::BufferCore & tf,
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double range_cutoff,
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int channel_options);
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//! Project a sensor_msgs::msg::LaserScan into a sensor_msgs::msg::PointCloud2
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/*!
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* Project a single laser scan from a linear array into a 3D
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* point cloud. The generated cloud will be in the same frame
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* as the original laser scan.
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*
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* \param scan_in The input laser scan
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* \param cloud_out The output point cloud
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* \param range_cutoff An additional range cutoff which can be
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* applied to discard everything above it.
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* Defaults to -1.0, which means the laser scan max range.
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* \param channel_option An OR'd set of channels to include.
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* Options include: channel_option::Default,
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* channel_option::Intensity, channel_option::Index,
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* channel_option::Distance, channel_option::Timestamp.
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*/
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void projectLaser (const sensor_msgs::msg::LaserScan& scan_in,
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sensor_msgs::msg::PointCloud2 &cloud_out,
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double range_cutoff = -1.0,
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int channel_options = channel_option::Default)
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{
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projectLaser_(scan_in, cloud_out, range_cutoff, channel_options);
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}
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//! Function used by the several forms of transformLaserScanToPointCloud_
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void transformLaserScanToPointCloud_(
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const std::string & target_frame,
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const sensor_msgs::msg::LaserScan & scan_in,
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sensor_msgs::msg::PointCloud2 & cloud_out,
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tf2::Quaternion quat_start,
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tf2::Vector3 origin_start,
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tf2::Quaternion quat_end,
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tf2::Vector3 origin_end,
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double range_cutoff,
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int channel_options);
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//! Transform a sensor_msgs::msg::LaserScan into a sensor_msgs::msg::PointCloud2 in target frame
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/*!
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* Transform a single laser scan from a linear array into a 3D
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* point cloud, accounting for movement of the laser over the
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* course of the scan. In order for this transform to be
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* meaningful at a single point in time, the target_frame must
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* be a fixed reference frame. See the tf documentation for
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* more information on fixed frames.
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*
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* \param target_frame The frame of the resulting point cloud
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* \param scan_in The input laser scan
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* \param cloud_out The output point cloud
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* \param tf a tf2::BufferCore object to use to perform the
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* transform
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* \param range_cutoff An additional range cutoff which can be
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* applied to discard everything above it.
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* Defaults to -1.0, which means the laser scan max range.
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* \param channel_option An OR'd set of channels to include.
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* Options include: channel_option::Default,
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* channel_option::Intensity, channel_option::Index,
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* channel_option::Distance, channel_option::Timestamp.
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*/
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void transformLaserScanToPointCloud(const std::string &target_frame,
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const sensor_msgs::msg::LaserScan &scan_in,
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sensor_msgs::msg::PointCloud2 &cloud_out,
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tf2::BufferCore &tf,
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double range_cutoff = -1.0,
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int channel_options = channel_option::Default)
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{
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transformLaserScanToPointCloud_(target_frame, scan_in, cloud_out, tf, range_cutoff, channel_options);
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}
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private:
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//! Internal hidden representation of projectLaser
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void projectLaser_ (const sensor_msgs::msg::LaserScan& scan_in,
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sensor_msgs::msg::PointCloud2 &cloud_out,
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double range_cutoff,
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int channel_options);
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//! Internal hidden representation of transformLaserScanToPointCloud2
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void transformLaserScanToPointCloud_ (const std::string &target_frame,
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const sensor_msgs::msg::LaserScan &scan_in,
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sensor_msgs::msg::PointCloud2 &cloud_out,
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tf2::BufferCore &tf,
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double range_cutoff,
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int channel_options);
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//! Function used by the several forms of transformLaserScanToPointCloud_
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void transformLaserScanToPointCloud_ (const std::string &target_frame,
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const sensor_msgs::msg::LaserScan &scan_in,
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sensor_msgs::msg::PointCloud2 &cloud_out,
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tf2::Quaternion quat_start,
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tf2::Vector3 origin_start,
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tf2::Quaternion quat_end,
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tf2::Vector3 origin_end,
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double range_cutoff,
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int channel_options);
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//! Internal map of pointers to stored values
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float angle_min_;
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float angle_max_;
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Eigen::ArrayXXd co_sine_map_;
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};
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//! Internal map of pointers to stored values
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float angle_min_;
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float angle_max_;
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Eigen::ArrayXXd co_sine_map_;
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};
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}
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