Point Cloud Library (PCL)  1.11.1-dev
types.h
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36 
37 #pragma once
38 
39 /**
40  * \file pcl/types.h
41  *
42  * \brief Defines basic non-point types used by PCL
43  * \ingroup common
44  */
45 
46 #include <pcl/pcl_config.h>
47 #include <pcl/pcl_macros.h>
48 #include <vector>
49 
50 #include <cstdint>
51 
52 #include <Eigen/Core>
53 
54 namespace pcl
55 {
56  namespace detail {
57  /**
58  * \brief int_type::type refers to an integral type that satisfies template parameters
59  * \tparam Bits number of bits in the integral type
60  * \tparam Signed signed or unsigned nature of the type
61  */
62  template <std::size_t Bits, bool Signed = true>
63  struct int_type { using type = void; };
64 
65  /**
66  * \brief helper type to use for `int_type::type`
67  * \see int_type
68  */
69  template <std::size_t Bits, bool Signed = true>
71 
72  template <>
73  struct int_type<8, true> { using type = std::int8_t; };
74  template <>
75  struct int_type<8, false> { using type = std::uint8_t; };
76  template <>
77  struct int_type<16, true> { using type = std::int16_t; };
78  template <>
79  struct int_type<16, false> { using type = std::uint16_t; };
80  template <>
81  struct int_type<32, true> { using type = std::int32_t; };
82  template <>
83  struct int_type<32, false> { using type = std::uint32_t; };
84  template <>
85  struct int_type<64, true> { using type = std::int64_t; };
86  template <>
87  struct int_type<64, false> { using type = std::uint64_t; };
88 
89  /**
90  * \brief number of bits in PCL's index type
91  *
92  * Please use PCL_INDEX_SIZE when building PCL to choose a size best suited for your needs.
93  * PCL 1.12 will come with default 32
94  *
95  * PCL 1.11 has a default size = sizeof(int)
96  */
97  constexpr std::uint8_t index_type_size = PCL_INDEX_SIZE;
98 
99  /**
100  * \brief signed/unsigned nature of PCL's index type
101  * Please use PCL_INDEX_SIGNED when building PCL to choose a type best suited for your needs.
102  * Default: signed
103  */
104  constexpr bool index_type_signed = PCL_INDEX_SIGNED;
105 } // namespace detail
106 
107  /**
108  * \brief Type used for an index in PCL
109  *
110  * Default index_t = int for PCL 1.11, std::int32_t for PCL >= 1.12
111  */
113  static_assert(!std::is_void<index_t>::value, "`index_t` can't have type `void`");
114 
115  /**
116  * \brief Type used for an unsigned index in PCL
117  *
118  * Unsigned index that mirrors the type of the index_t
119  */
121  static_assert(!std::is_signed<uindex_t>::value, "`uindex_t` must be unsigned");
122 
123  /**
124  * \brief Type used for indices in PCL
125  * \todo Remove with C++20
126  */
127  template <typename Allocator = std::allocator<index_t>>
128  using IndicesAllocator = std::vector<index_t, Allocator>;
129 
130  /**
131  * \brief Type used for indices in PCL
132  */
134 
135  /**
136  * \brief Type used for aligned vector of Eigen objects in PCL
137  */
138  template <typename T>
139  using AlignedVector = std::vector<T, Eigen::aligned_allocator<T>>;
140 } // namespace pcl
141 
pcl::detail::int_type
int_type::type refers to an integral type that satisfies template parameters
Definition: types.h:63
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl
Definition: convolution.h:46
pcl::detail::int_type< 8, false >::type
std::uint8_t type
Definition: types.h:75
pcl::detail::int_type< 64, false >::type
std::uint64_t type
Definition: types.h:87
pcl::detail::index_type_size
constexpr std::uint8_t index_type_size
number of bits in PCL's index type
Definition: types.h:97
pcl::detail::int_type< 16, false >::type
std::uint16_t type
Definition: types.h:79
pcl::index_t
detail::int_type_t< detail::index_type_size, detail::index_type_signed > index_t
Type used for an index in PCL.
Definition: types.h:112
pcl::detail::int_type_t
typename int_type< Bits, Signed >::type int_type_t
helper type to use for int_type::type
Definition: types.h:70
pcl::detail::int_type< 16, true >::type
std::int16_t type
Definition: types.h:77
pcl::detail::int_type< 32, true >::type
std::int32_t type
Definition: types.h:81
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
pcl::detail::int_type< 32, false >::type
std::uint32_t type
Definition: types.h:83
pcl::detail::int_type< 8, true >::type
std::int8_t type
Definition: types.h:73
pcl::AlignedVector
std::vector< T, Eigen::aligned_allocator< T > > AlignedVector
Type used for aligned vector of Eigen objects in PCL.
Definition: types.h:139
pcl::IndicesAllocator
std::vector< index_t, Allocator > IndicesAllocator
Type used for indices in PCL.
Definition: types.h:128
pcl::detail::index_type_signed
constexpr bool index_type_signed
signed/unsigned nature of PCL's index type Please use PCL_INDEX_SIGNED when building PCL to choose a ...
Definition: types.h:104
pcl::detail::int_type< 64, true >::type
std::int64_t type
Definition: types.h:85
pcl::uindex_t
detail::int_type_t< detail::index_type_size, false > uindex_t
Type used for an unsigned index in PCL.
Definition: types.h:120
pcl::detail::int_type::type
void type
Definition: types.h:63