iLab Neuromorphic Robotics Toolkit  0.1
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FilterBaseImpl.H
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1 /*! @file
2  @author Shane Grant
3  @copyright GNU Public License (GPL v3)
4  @section License
5  @verbatim
6  // ////////////////////////////////////////////////////////////////////////
7  // The iLab Neuromorphic Robotics Toolkit (NRT) //
8  // Copyright 2010-2012 by the University of Southern California (USC) //
9  // and the iLab at USC. //
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34 
35 #ifndef INCLUDE_NRT_POINTCLOUD2_FILTER_DETAILS_FILTERBASEIMPL_H
36 #define INCLUDE_NRT_POINTCLOUD2_FILTER_DETAILS_FILTERBASEIMPL_H
37 
38 #include <utility>
39 #include <nrt/Core/Debugging/Log.H>
40 
41 //! @cond PRIVATE_NEVERDEFINED
42 template <class Field> inline
43 auto nrt::FilterBase::filter( PointCloud2 const input ) -> PointCloud2
44 {
45  static std::string const name( demangledName<typename StripSparse<Field>::type>() );
46  throw exception::PointCloud2FieldsException( name );
47 }
48 
49 template <class Field> inline
50 auto nrt::FilterBase::filter( PointCloud2 const input, Indices const indices ) -> PointCloud2
51 {
52  static std::string const name( demangledName<typename StripSparse<Field>::type>() );
53  throw exception::PointCloud2FieldsException( name );
54 }
55 
56 template <class Filter> inline
57 auto nrt::filterPointCloud( PointCloud2 const input, Filter && filter ) -> PointCloud2
58 {
59  return filter.filter( input );
60 }
61 
62 template <class Filter> inline
63 auto nrt::filterPointCloud( PointCloud2 const input, Indices const indices, Filter && filter ) -> PointCloud2
64 {
65  return filter.filter( input, indices );
66 }
67 
68 template <class Filter, class ... FilterArgs> inline
69 auto nrt::filterPointCloud( PointCloud2 const input, Filter && filter, FilterArgs && ... args ) -> PointCloud2
70 {
71  return filter.filter( input, std::forward<FilterArgs...>( args... ) );
72 }
73 
74 template <class Filter, class ... FilterArgs> inline
75 auto nrt::filterPointCloud( PointCloud2 const input, Indices const indices, Filter && filter, FilterArgs && ... args ) -> PointCloud2
76 {
77  return filter.filter( input, indices, std::forward<FilterArgs...>( args... ) );
78 }
79 
80 template <class Field, class Filter> inline
81 auto nrt::filterPointCloud( PointCloud2 const input, Filter && filter ) -> PointCloud2
82 {
83  return filter.template filter<Field>( input );
84 }
85 
86 template <class Field, class Filter> inline
87 auto nrt::filterPointCloud( PointCloud2 const input, Indices const indices, Filter && filter ) -> PointCloud2
88 {
89  return filter.template filter<Field>( input, indices );
90 }
91 
92 template <class Field, class Filter, class ... FilterArgs> inline
93 auto nrt::filterPointCloud( PointCloud2 const input, Filter && filter, FilterArgs && ... args ) -> PointCloud2
94 {
95  return filter.template filter<Field>( input, std::forward<FilterArgs...>( args... ) );
96 }
97 
98 template <class Field, class Filter, class ... FilterArgs> inline
99 auto nrt::filterPointCloud( PointCloud2 const input, Indices const indices, Filter && filter, FilterArgs && ... args ) -> PointCloud2
100 {
101  return filter.template filter<Field>( input, indices, std::forward<FilterArgs...>( args... ) );
102 }
103 //! @endcond
104 
105 #endif // INCLUDE_NRT_POINTCLOUD2_FILTER_DETAILS_FILTERBASEIMPL_H