GpuLaserDataIterator.hh

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/*
 * Copyright (C) 2017 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef GAZEBO_RENDERING_GPULASERDATAITERATOR_HH_
#define GAZEBO_RENDERING_GPULASERDATAITERATOR_HH_

#include <memory>

namespace gazebo
{
  namespace rendering
  {
    struct GpuLaserData
    {
      // cppcheck-suppress unusedStructMember
      double range;

      // cppcheck-suppress unusedStructMember
      double intensity;

      // cppcheck-suppress unusedStructMember
      unsigned int beam;

      // cppcheck-suppress unusedStructMember
      unsigned int reading;
    };

    template <typename F>
    class GpuLaserDataIterator
    {
      public: friend F;

      public: ~GpuLaserDataIterator();

      public: bool operator==(const GpuLaserDataIterator &_rvalue) const;

      public: bool operator!=(const GpuLaserDataIterator &_rvalue) const;

      public: const GpuLaserData operator*() const;

      public: const std::unique_ptr<const GpuLaserData> operator->() const;

      public: GpuLaserDataIterator<F> &operator++();

      public: GpuLaserDataIterator<F> operator++(int _dummy);

      public: GpuLaserDataIterator<F>& operator--();

      public: GpuLaserDataIterator<F> operator--(int _dummy);

      protected: GpuLaserDataIterator(const unsigned int _index,
                         const float *_data, const unsigned int _skip,
                         const unsigned int _rangeOffset,
                         const unsigned int _intensityOffset,
                         const unsigned int _horizontalResolution);


      // Not using PIMPL because it has no benefit on templated classes

      private: unsigned int index = 0;

      private: const float *data = nullptr;

      private: const unsigned int skip = 0;

      private: const unsigned int rangeOffset = 0;

      private: const unsigned int intensityOffset = 0;

      private: const unsigned int horizontalResolution = 0;
    };
  }
}

#include "GpuLaserDataIteratorImpl.hh"

#endif