mirror
/
ros_pointcloud2
mirror of https://github.com/stelzo/ros_pointcloud2.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

add cfg docs (#19)

This commit is contained in:
stelzo 2024-05-15 21:47:04 +02:00 committed by GitHub
parent fc15b9ee63
commit 94b35cc822
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
3 changed files with 36 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Cargo.toml
View File

@ -58,3 +58,5 @@ default = ["derive", "std"]
[package.metadata.docs.rs]
features = ["derive", "nalgebra", "rayon"]
default-target = "x86_64-unknown-linux-gnu"
rustdoc-args = ["--cfg", "docsrs"]

23
src/lib.rs
View File

@ -53,12 +53,13 @@
//! ```
//!
//! # Features
//! - **r2r_msg** — Integration for the ROS2 library [r2r](https://github.com/sequenceplanner/r2r).
//! - **(rclrs_msg)** — Integration for ROS2 [rclrs](https://github.com/ros2-rust/ros2_rust) but it needs this [workaround](https://github.com/stelzo/ros_pointcloud2?tab=readme-ov-file#rclrs-ros2_rust) instead of a feature flag.
//! - **rosrust_msg** — Integration with the [rosrust](https://github.com/adnanademovic/rosrust) library for ROS1 message types.
//! - **derive** (default) — Needed for the `_vec` functions and helpful custom point derive macros for the [`PointConvertible`] trait.
//! - **rayon** — Parallel iterator support for `_par_iter` functions. [`PointCloud2Msg::try_from_par_iter`] additionally needs the 'derive' feature to be enabled.
//! - **nalgebra** — When enabled, predefined points offer a `xyz()` getter returning `nalgebra::Point3`.
//! - r2r_msg — Integration for the ROS2 library [r2r](https://github.com/sequenceplanner/r2r).
//! - rosrust_msg — Integration with the [rosrust](https://github.com/adnanademovic/rosrust) library for ROS1 message types.
//! - (rclrs_msg) — Integration for ROS2 [rclrs](https://github.com/ros2-rust/ros2_rust) but it currently needs [this workaround](https://github.com/stelzo/ros_pointcloud2?tab=readme-ov-file#rclrs-ros2_rust).
//! - derive *(enabled by default)* — Enables the `_vec` functions and offers helpful custom point derive macros for the [`PointConvertible`] trait.
//! - rayon — Parallel iterator support for `_par_iter` functions. [`PointCloud2Msg::try_from_par_iter`] additionally needs the 'derive' feature.
//! - nalgebra — Predefined points offer a nalgebra typed getter for coordinates (e.g. [`points::PointXYZ::xyz`]).
//! - std *(enabled by default)* — Use the standard library. Disable *all* features for `no_std` environments.
//!
//! # Custom Points
//! Implement [`PointConvertible`] for your point with the `derive` feature or manually.
@ -126,6 +127,8 @@
//! }
//! ```
#![crate_type = "lib"]
#![cfg_attr(docsrs, feature(doc_cfg))]
#![doc(html_root_url = "https://docs.rs/ros_pointcloud2/1.0.0-rc.1")]
#![warn(clippy::print_stderr)]
#![warn(clippy::print_stdout)]
#![warn(clippy::unwrap_used)]
@ -551,6 +554,7 @@ impl PointCloud2Msg {
/// Create a PointCloud2Msg from a parallel iterator. Requires the `rayon` and `derive` feature to be enabled.
#[cfg(all(feature = "rayon", feature = "derive"))]
#[cfg_attr(docsrs, doc(cfg(all(feature = "rayon", feature = "derive"))))]
pub fn try_from_par_iter<const N: usize, C>(
iterable: impl rayon::iter::ParallelIterator<Item = C>,
) -> Result<Self, MsgConversionError>
@ -578,6 +582,7 @@ impl PointCloud2Msg {
/// # Errors
/// Returns an error if the byte buffer does not match the expected layout or the message contains other discrepancies.
#[cfg(feature = "derive")]
#[cfg_attr(docsrs, doc(cfg(feature = "derive")))]
pub fn try_from_vec<const N: usize, C>(vec: Vec<C>) -> Result<Self, MsgConversionError>
where
C: PointConvertible<N>,
@ -666,6 +671,7 @@ impl PointCloud2Msg {
/// # Errors
/// Returns an error if the byte buffer does not match the expected layout or the message contains other discrepancies.
#[cfg(feature = "derive")]
#[cfg_attr(docsrs, doc(cfg(feature = "derive")))]
pub fn try_into_vec<const N: usize, C>(self) -> Result<Vec<C>, MsgConversionError>
where
C: PointConvertible<N>,
@ -746,6 +752,7 @@ impl PointCloud2Msg {
/// let cloud_points_out = msg_out.try_into_par_iter().unwrap().collect::<Vec<PointXYZ>>();
/// assert_eq!(2, cloud_points_out.len());
/// ```
#[cfg_attr(docsrs, doc(cfg(feature = "rayon")))]
#[cfg(feature = "rayon")]
pub fn try_into_par_iter<const N: usize, C>(
self,
@ -828,6 +835,7 @@ impl<const N: usize> From<[PointData; N]> for RPCL2Point<N> {
///
/// impl PointConvertible<4> for MyPointXYZI {}
/// ```
#[cfg_attr(docsrs, doc(cfg(not(feature = "derive"))))]
#[cfg(not(feature = "derive"))]
pub trait PointConvertible<const N: usize>:
From<RPCL2Point<N>> + Into<RPCL2Point<N>> + Fields<N> + Clone + Default
@ -889,6 +897,7 @@ pub trait PointConvertible<const N: usize>:
///
/// impl PointConvertible<4> for MyPointXYZI {}
/// ```
#[cfg_attr(docsrs, doc(cfg(feature = "derive")))]
#[cfg(feature = "derive")]
pub trait PointConvertible<const N: usize>:
type_layout::TypeLayout + From<RPCL2Point<N>> + Into<RPCL2Point<N>> + Fields<N> + Default
@ -1359,7 +1368,7 @@ impl From<points::RGB> for PointDataBuffer {
}
/// This trait is used to convert a byte slice to a primitive type.
/// All [`PointField`] types are supported.
/// All [`ros::PointFieldMsg`] types are supported.
pub trait FromBytes: Default + Sized + Copy + GetFieldDatatype + Into<PointDataBuffer> {
fn from_be_bytes(bytes: PointDataBuffer) -> Self;
fn from_le_bytes(bytes: PointDataBuffer) -> Self;

18
src/points.rs
View File

@ -144,7 +144,9 @@ impl PointXYZ {
Self { x, y, z }
}
/// Get the coordinates as a nalgebra Point3.
#[cfg(feature = "nalgebra")]
#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
pub fn xyz(&self) -> nalgebra::Point3<f32> {
nalgebra::Point3::new(self.x, self.y, self.z)
}
@ -190,7 +192,9 @@ impl PointXYZI {
Self { x, y, z, intensity }
}
/// Get the coordinates as a nalgebra Point3.
#[cfg(feature = "nalgebra")]
#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
pub fn xyz(&self) -> nalgebra::Point3<f32> {
nalgebra::Point3::new(self.x, self.y, self.z)
}
@ -247,7 +251,9 @@ impl PointXYZL {
Self { x, y, z, label }
}
/// Get the coordinates as a nalgebra Point3.
#[cfg(feature = "nalgebra")]
#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
pub fn xyz(&self) -> nalgebra::Point3<f32> {
nalgebra::Point3::new(self.x, self.y, self.z)
}
@ -321,7 +327,9 @@ impl PointXYZRGB {
self.rgb.b()
}
/// Get the coordinates as a nalgebra Point3.
#[cfg(feature = "nalgebra")]
#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
pub fn xyz(&self) -> nalgebra::Point3<f32> {
nalgebra::Point3::new(self.x, self.y, self.z)
}
@ -397,7 +405,9 @@ impl PointXYZRGBA {
self.rgb.b()
}
/// Get the coordinates as a nalgebra Point3.
#[cfg(feature = "nalgebra")]
#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
pub fn xyz(&self) -> nalgebra::Point3<f32> {
nalgebra::Point3::new(self.x, self.y, self.z)
}
@ -491,7 +501,9 @@ impl PointXYZRGBNormal {
self.rgb.b()
}
/// Get the coordinates as a nalgebra Point3.
#[cfg(feature = "nalgebra")]
#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
pub fn xyz(&self) -> nalgebra::Point3<f32> {
nalgebra::Point3::new(self.x, self.y, self.z)
}
@ -574,7 +586,9 @@ impl PointXYZINormal {
}
}
/// Get the coordinates as a nalgebra Point3.
#[cfg(feature = "nalgebra")]
#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
pub fn xyz(&self) -> nalgebra::Point3<f32> {
nalgebra::Point3::new(self.x, self.y, self.z)
}
@ -664,7 +678,9 @@ impl PointXYZRGBL {
self.rgb.b()
}
/// Get the coordinates as a nalgebra Point3.
#[cfg(feature = "nalgebra")]
#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
pub fn xyz(&self) -> nalgebra::Point3<f32> {
nalgebra::Point3::new(self.x, self.y, self.z)
}
@ -730,7 +746,9 @@ impl PointXYZNormal {
}
}
/// Get the coordinates as a nalgebra Point3.
#[cfg(feature = "nalgebra")]
#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
pub fn xyz(&self) -> nalgebra::Point3<f32> {
nalgebra::Point3::new(self.x, self.y, self.z)
}