code style only: wrap after open parenthesis if not in one line (#52)
Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>
This commit is contained in:
Dirk Thomas
GitHub
parent
c2bdad5f01
commit
f59e3fea7e
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@ -159,8 +159,8 @@ public:
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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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transformLaserScanToPointCloud_(
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target_frame, scan_in, cloud_out, tf, range_cutoff, channel_options);
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}
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private:
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@ -433,14 +433,12 @@ void LaserProjection::transformLaserScanToPointCloud_(
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std::chrono::nanoseconds start(start_time.nanoseconds());
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std::chrono::time_point<std::chrono::system_clock, std::chrono::nanoseconds> st(start);
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geometry_msgs::msg::TransformStamped start_transform = tf.lookupTransform(target_frame,
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scan_in.header.frame_id,
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st);
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geometry_msgs::msg::TransformStamped start_transform = tf.lookupTransform(
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target_frame, scan_in.header.frame_id, st);
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std::chrono::nanoseconds end(end_time.nanoseconds());
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std::chrono::time_point<std::chrono::system_clock, std::chrono::nanoseconds> e(end);
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geometry_msgs::msg::TransformStamped end_transform = tf.lookupTransform(target_frame,
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scan_in.header.frame_id,
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e);
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geometry_msgs::msg::TransformStamped end_transform = tf.lookupTransform(
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target_frame, scan_in.header.frame_id, e);
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tf2::Quaternion quat_start(start_transform.transform.rotation.x,
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start_transform.transform.rotation.y,
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@ -457,7 +455,8 @@ void LaserProjection::transformLaserScanToPointCloud_(
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tf2::Vector3 origin_end(end_transform.transform.translation.x,
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end_transform.transform.translation.y,
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end_transform.transform.translation.z);
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transformLaserScanToPointCloud_(target_frame, scan_in, cloud_out,
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transformLaserScanToPointCloud_(
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target_frame, scan_in, cloud_out,
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quat_start, origin_start,
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quat_end, origin_end,
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range_cutoff,
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@ -139,7 +139,8 @@ TEST(laser_geometry, projectLaser2) {
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for (auto max_angle : max_angles) {
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for (auto angle_increment : angle_increments) {
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for (auto scan_time : scan_times) {
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options.push_back(ScanOptions(
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options.push_back(
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ScanOptions(
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range, intensity, min_angle, max_angle, angle_increment, scan_time));
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}
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}
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@ -162,17 +163,20 @@ TEST(laser_geometry, projectLaser2) {
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projector.projectLaser(scan, cloud_out, -1.0);
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EXPECT_EQ(cloud_out.fields.size(), 5u);
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projector.projectLaser(scan, cloud_out, -1.0,
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projector.projectLaser(
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scan, cloud_out, -1.0,
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laser_geometry::channel_option::Intensity |
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laser_geometry::channel_option::Index);
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EXPECT_EQ(cloud_out.fields.size(), 5u);
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projector.projectLaser(scan, cloud_out, -1.0,
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projector.projectLaser(
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scan, cloud_out, -1.0,
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laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index |
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laser_geometry::channel_option::Distance);
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EXPECT_EQ(cloud_out.fields.size(), 6u);
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projector.projectLaser(scan, cloud_out, -1.0,
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projector.projectLaser(
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scan, cloud_out, -1.0,
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laser_geometry::channel_option::Intensity |
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laser_geometry::channel_option::Index |
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laser_geometry::channel_option::Distance |
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@ -210,22 +214,28 @@ TEST(laser_geometry, projectLaser2) {
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}
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for (unsigned int i = 0; i < cloud_out.width; i++) {
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EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + x_offset),
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EXPECT_NEAR(
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cloudData<float>(cloud_out, i * cloud_out.point_step + x_offset),
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static_cast<float>(static_cast<double>(scan.ranges[i]) *
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cos(static_cast<double>(scan.angle_min) + i * static_cast<double>(scan.angle_increment))),
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tolerance);
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EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + y_offset),
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EXPECT_NEAR(
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cloudData<float>(cloud_out, i * cloud_out.point_step + y_offset),
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static_cast<float>(static_cast<double>(scan.ranges[i]) *
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sin(static_cast<double>(scan.angle_min) + i * static_cast<double>(scan.angle_increment))),
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tolerance);
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EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + z_offset), 0, tolerance);
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EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + intensity_offset),
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EXPECT_NEAR(
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cloudData<float>(cloud_out, i * cloud_out.point_step + intensity_offset),
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scan.intensities[i], tolerance); // intensity
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EXPECT_NEAR(cloudData<uint32_t>(cloud_out, i * cloud_out.point_step + index_offset), i,
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EXPECT_NEAR(
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cloudData<uint32_t>(cloud_out, i * cloud_out.point_step + index_offset), i,
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tolerance); // index
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EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + distance_offset),
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EXPECT_NEAR(
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cloudData<float>(cloud_out, i * cloud_out.point_step + distance_offset),
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scan.ranges[i], tolerance); // ranges
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EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + stamps_offset),
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EXPECT_NEAR(
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cloudData<float>(cloud_out, i * cloud_out.point_step + stamps_offset),
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(float)i * scan.time_increment, tolerance); // timestamps
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}
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} catch (const BuildScanException & ex) {
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@ -291,7 +301,8 @@ TEST(laser_geometry, transformLaserScanToPointCloud2) {
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for (auto max_angle : max_angles) {
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for (auto angle_increment : angle_increments) {
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for (auto scan_time : scan_times) {
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options.push_back(ScanOptions(
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options.push_back(
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ScanOptions(
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range, intensity, min_angle, max_angle, angle_increment, scan_time));
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}
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}
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@ -309,29 +320,35 @@ TEST(laser_geometry, transformLaserScanToPointCloud2) {
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scan.header.frame_id = "laser_frame";
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sensor_msgs::msg::PointCloud2 cloud_out;
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projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
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projector.transformLaserScanToPointCloud(
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scan.header.frame_id, scan, cloud_out, tf2, -1.0,
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laser_geometry::channel_option::None);
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EXPECT_EQ(cloud_out.fields.size(), 3u);
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projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
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projector.transformLaserScanToPointCloud(
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scan.header.frame_id, scan, cloud_out, tf2, -1.0,
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laser_geometry::channel_option::Index);
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EXPECT_EQ(cloud_out.fields.size(), 4u);
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projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
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projector.transformLaserScanToPointCloud(
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scan.header.frame_id, scan, cloud_out, tf2, -1.0,
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laser_geometry::channel_option::Intensity);
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EXPECT_EQ(cloud_out.fields.size(), 4u);
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projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2);
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EXPECT_EQ(cloud_out.fields.size(), 5u);
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projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
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projector.transformLaserScanToPointCloud(
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scan.header.frame_id, scan, cloud_out, tf2, -1.0,
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laser_geometry::channel_option::Intensity |
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laser_geometry::channel_option::Index);
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EXPECT_EQ(cloud_out.fields.size(), 5u);
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projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
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projector.transformLaserScanToPointCloud(
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scan.header.frame_id, scan, cloud_out, tf2, -1.0,
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laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index |
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laser_geometry::channel_option::Distance);
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EXPECT_EQ(cloud_out.fields.size(), 6u);
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projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
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projector.transformLaserScanToPointCloud(
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scan.header.frame_id, scan, cloud_out, tf2, -1.0,
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laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index |
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laser_geometry::channel_option::Distance |
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laser_geometry::channel_option::Timestamp);
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@ -369,22 +386,28 @@ TEST(laser_geometry, transformLaserScanToPointCloud2) {
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}
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for (unsigned int i = 0; i < cloud_out.width; i++) {
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EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + x_offset),
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EXPECT_NEAR(
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cloudData<float>(cloud_out, i * cloud_out.point_step + x_offset),
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static_cast<float>(static_cast<double>(scan.ranges[i]) *
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cos(static_cast<double>(scan.angle_min) + i * static_cast<double>(scan.angle_increment))),
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tolerance);
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EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + y_offset),
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EXPECT_NEAR(
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cloudData<float>(cloud_out, i * cloud_out.point_step + y_offset),
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static_cast<float>(static_cast<double>(scan.ranges[i]) *
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sin(static_cast<double>(scan.angle_min) + i * static_cast<double>(scan.angle_increment))),
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tolerance);
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EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + z_offset), 0, tolerance);
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EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + intensity_offset),
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EXPECT_NEAR(
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cloudData<float>(cloud_out, i * cloud_out.point_step + intensity_offset),
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scan.intensities[i], tolerance); // intensity
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EXPECT_NEAR(cloudData<uint32_t>(cloud_out, i * cloud_out.point_step + index_offset), i,
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EXPECT_NEAR(
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cloudData<uint32_t>(cloud_out, i * cloud_out.point_step + index_offset), i,
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tolerance); // index
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EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + distance_offset),
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EXPECT_NEAR(
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cloudData<float>(cloud_out, i * cloud_out.point_step + distance_offset),
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scan.ranges[i], tolerance); // ranges
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EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + stamps_offset),
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EXPECT_NEAR(
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cloudData<float>(cloud_out, i * cloud_out.point_step + stamps_offset),
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(float)i * scan.time_increment, tolerance); // timestamps
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}
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} catch (BuildScanException & ex) {
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