concatenate.h

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/*
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 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
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#ifndef PCL_COMMON_CONCATENATE_H_
#define PCL_COMMON_CONCATENATE_H_

#include <pcl/ros/conversions.h>

// We're doing a lot of black magic with Boost here, so disable warnings in Maintainer mode, as we will never
// be able to fix them anyway
#ifdef BUILD_Maintainer
#  if defined __GNUC__
#    if __GNUC__ == 4 && __GNUC_MINOR__ > 3
#      pragma GCC diagnostic ignored "-Weffc++"
#      pragma GCC diagnostic ignored "-pedantic"
#    else
#      pragma GCC system_header 
#    endif
#  elif defined _MSC_VER
#    pragma warning(push, 1)
#  endif
#endif

namespace pcl
{
  template<typename PointInT, typename PointOutT>
  struct NdConcatenateFunctor
  {
    typedef typename traits::POD<PointInT>::type PodIn;
    typedef typename traits::POD<PointOutT>::type PodOut;
    
    NdConcatenateFunctor (const PointInT &p1, PointOutT &p2)
      : p1_ (reinterpret_cast<const PodIn&>(p1)), p2_ (reinterpret_cast<PodOut&>(p2)) { }

    template<typename Key> inline void operator() ()
    {
      // This sucks without Fusion :(
      //boost::fusion::at_key<Key> (p2_) = boost::fusion::at_key<Key> (p1_);
      typedef typename pcl::traits::datatype<PointInT, Key>::type InT;
      typedef typename pcl::traits::datatype<PointOutT, Key>::type OutT;
      // Note: don't currently support different types for the same field (e.g. converting double to float)
      BOOST_MPL_ASSERT_MSG((boost::is_same<InT, OutT>::value),
                           POINT_IN_AND_POINT_OUT_HAVE_DIFFERENT_TYPES_FOR_FIELD,
                           (Key, PointInT&, InT, PointOutT&, OutT));
      memcpy (reinterpret_cast<uint8_t*>(&p2_) + pcl::traits::offset<PointOutT, Key>::value,
              reinterpret_cast<const uint8_t*>(&p1_) + pcl::traits::offset<PointInT, Key>::value,
              sizeof (InT));
    }

    private:
      const PodIn &p1_;
      PodOut &p2_;
  };
}

#ifdef BUILD_Maintainer
#  if defined __GNUC__
#    if __GNUC__ == 4 && __GNUC_MINOR__ > 3
#      pragma GCC diagnostic warning "-Weffc++"
#      pragma GCC diagnostic warning "-pedantic"
#    endif
#  elif defined _MSC_VER
#    pragma warning(pop)
#  endif
#endif

#endif // PCL_COMMON_CONCATENATE_H_