PointCloudIterator.h

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/*
 * Copyright (C) by
 *   MetraLabs GmbH (MLAB), GERMANY
 *  and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Redistribution and modification of this code is strictly prohibited.
 *
 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
 * INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF
 * THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF "MLAB" OR
 * "NICR" HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 * "MLAB" AND "NICR" SPECIFICALLY DISCLAIM ANY WARRANTIES, INCLUDING,
 * BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
 * FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS
 * ON AN "AS IS" BASIS, AND "MLAB" AND "NICR" HAVE NO OBLIGATION TO
 * PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS OR MODIFICATIONS.
 */

#ifndef _MIRA_POINTCLOUDITERATOR_H_
#define _MIRA_POINTCLOUDITERATOR_H_

#include <maps/PointCloudFormat.h>

namespace mira { namespace maps {


class GenericPointCloud;


template<typename PointType>
class PointCloud;

class GenericPointCloudConstIterator
{
protected:
    friend class GenericPointCloud;
    GenericPointCloudConstIterator(const uint8* ptr, std::size_t step) :
        mPtr(ptr), mStep(step) {}

public:
    GenericPointCloudConstIterator() :
        mPtr(NULL), mStep(0) {}

public:

    bool operator==(const GenericPointCloudConstIterator& other) const {
        return mPtr==other.mPtr;
    }

    bool operator!=(const GenericPointCloudConstIterator& other) const {
        return mPtr!=other.mPtr;
    }

public:

    void operator++() { mPtr += mStep; }

    void operator+=(std::size_t idx) { mPtr += mStep * idx; }

public:

    template <typename T>
    const T& get(const PCDataField& field) const {
        assert(PCDataFieldTypeTrait<T>::type == field.type);
        return *reinterpret_cast<const T*>(mPtr + field.offset);
    }

protected:
    const uint8* mPtr;
    std::size_t mStep;
};


class GenericPointCloudIterator : public GenericPointCloudConstIterator
{
protected:
    friend class GenericPointCloud;
    GenericPointCloudIterator(uint8* ptr, std::size_t step) :
        GenericPointCloudConstIterator(ptr,step) {}

public:
    GenericPointCloudIterator() {}

public:

    template <typename T>
    T& get(const PCDataField& field) {
        return const_cast<T&>(GenericPointCloudConstIterator::get<T>(field));
    }
};


template <typename PointType>
class PointCloudConstIterator : public GenericPointCloudConstIterator
{
public:

    typedef PointType value_type;
    typedef int difference_type;

    typedef const PointType* const_pointer;
    typedef const PointType& const_reference;
    typedef std::random_access_iterator_tag iterator_category;

protected:
    friend class PointCloud<PointType>;
    PointCloudConstIterator(const uint8* ptr, std::size_t step) :
        GenericPointCloudConstIterator(ptr,step) {}

public:
    PointCloudConstIterator() {}

public:

    const_reference operator*() const {
        return *reinterpret_cast<const PointType*>(mPtr);
    }

    const_pointer operator->() const {
        return reinterpret_cast<const PointType*>(mPtr);
    }
};


template <typename PointType>
class PointCloudIterator : public PointCloudConstIterator<PointType>
{
public:
    typedef PointType* pointer;
    typedef PointType& reference;

private:
    typedef PointCloudConstIterator<PointType> Base;
protected:
    friend class PointCloud<PointType>;
    PointCloudIterator(uint8* ptr, std::size_t step) : Base(ptr,step) {}

public:
    PointCloudIterator() {}

public:

    reference operator*() {
        return const_cast<PointType&>(Base::operator*());
    }

    pointer operator->() {
        return const_cast<PointType*>(Base::operator->());
    }
};


}} // namespace

#endif /* _MIRA_POINTCLOUDITERATOR_H_ */