iLab Neuromorphic Robotics Toolkit  0.1
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MinMaxImpl.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. //
10  // //
11  // iLab - University of Southern California //
12  // Hedco Neurociences Building, Room HNB-10 //
13  // Los Angeles, Ca 90089-2520 - USA //
14  // //
15  // See http://ilab.usc.edu for information about this project. //
16  // ////////////////////////////////////////////////////////////////////////
17  // This file is part of The iLab Neuromorphic Robotics Toolkit. //
18  // //
19  // The iLab Neuromorphic Robotics Toolkit is free software: you can //
20  // redistribute it and/or modify it under the terms of the GNU General //
21  // Public License as published by the Free Software Foundation, either //
22  // version 3 of the License, or (at your option) any later version. //
23  // //
24  // The iLab Neuromorphic Robotics Toolkit is distributed in the hope //
25  // that it will be useful, but WITHOUT ANY WARRANTY; without even the //
26  // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR //
27  // PURPOSE. See the GNU General Public License for more details. //
28  // //
29  // You should have received a copy of the GNU General Public License //
30  // along with The iLab Neuromorphic Robotics Toolkit. If not, see //
31  // <http://www.gnu.org/licenses/>. //
32  // ////////////////////////////////////////////////////////////////////////
33  @endverbatim */
34 
35 #ifndef INCLUDE_NRT_POINTCLOUD2_COMMON_DETAILS_MINMAXIMPL_H
36 #define INCLUDE_NRT_POINTCLOUD2_COMMON_DETAILS_MINMAXIMPL_H
37 
39 
40 template <class Field>
41 void nrt::computeMinMax( PointCloud2 const input, Field & min, Field & max )
42 {
43  auto minStart = PointHelpers<Field>::begin( min );
44  auto minEnd = PointHelpers<Field>::end( min );
45  auto maxStart = PointHelpers<Field>::begin( max );
46 
47  auto minIter = minStart;
48  auto maxIter = maxStart;
49 
50  using FieldDataType = typename std::decay<decltype(*minIter)>::type;
51 
52  for ( ; minIter != minEnd; ++minIter, ++maxIter )
53  {
54  *minIter = static_cast<FieldDataType>( std::numeric_limits<POINTCLOUD2_BASE_TYPE>::max() );
55  *maxIter = static_cast<FieldDataType>( -std::numeric_limits<POINTCLOUD2_BASE_TYPE>::max() );
56  }
57 
58  for ( auto i = input.begin<Field>(), end = input.end<Field>(); i != end; ++i )
59  {
60  auto itemIter = PointHelpers<const Field>::begin( i->template get<Field>() );
61 
62  for ( minIter = minStart, maxIter = maxStart; minIter != minEnd; ++minIter, ++maxIter, ++itemIter )
63  {
64  if ( *itemIter < *minIter )
65  *minIter = *itemIter;
66  else if ( *itemIter > *maxIter )
67  *maxIter = *itemIter;
68  }
69  }
70 }
71 
72 #endif // INCLUDE_NRT_POINTCLOUD2_COMMON_DETAILS_MINMAXIMPL_H