text: /* +------------------------------------------------------------------------+
     |                     Mobile Robot Programming Toolkit (MRPT)            |
     |                          http://www.mrpt.org/                          |
     |                                                                        |
     | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
     | See: http://www.mrpt.org/Authors - All rights reserved.                |
     | Released under BSD License. See details in http://www.mrpt.org/License |
     +------------------------------------------------------------------------+ */
  #pragma once
  
  #include <cstdint>
  
  namespace mrpt
  {
  namespace opengl
  {
  /** \defgroup mrpt_adapters_grp Pointcloud adapter (wrapper) template classes
     (in #include <mrpt/opengl/pointcloud_adapters.h>) \addtogroup mrpt_opengl_grp
  */
  
  /** \addtogroup mrpt_adapters_grp
   * @{ */
  
  /** An adapter to different kinds of point cloud object.
   *  Implemented as a pure C++ template with specializations for the highest
   * flexibility and efficiency in compiler-generated implementations.
   *  Usage:
   *   \code
   *     PC  my_obj;
   *     my_obj.specific_methods();
   *     // ...
   *     PointCloudAdapter<PC> pca(my_obj);
   *     pca.unified_interface_methods();
   *     // ...
   *   \endcode
   *  See specializations for details on the exposed API.
   */
  template <class POINTCLOUD>
  class PointCloudAdapter;
  
  /** @} */  // end of grouping
  
  namespace detail
  {
  /** A helper base class for those PointCloudAdapter<> which do not handle RGB
   * data; it declares needed interface methods which fall back to XYZ-only
   * methods */
  template <class POINTMAPTYPE, typename coords_t>
  class PointCloudAdapterHelperNoRGB
  {
     public:
  	using Derived = PointCloudAdapter<POINTMAPTYPE>;
  
  	inline Derived& derived() { return *static_cast<Derived*>(this); }
  	inline const Derived& derived() const
  	{
  		return *static_cast<const Derived*>(this);
  	}
  
  	/** Get XYZ_RGBf coordinates of i'th point */
  	template <typename T>
  	inline void getPointXYZ_RGBf(
  		const size_t idx, T& x, T& y, T& z, float& r, float& g, float& b) const
  	{
  		derived().getPointXYZ(idx, x, y, z);
  		r = g = b = 1.0f;
  	}
  	/** Set XYZ_RGBf coordinates of i'th point */
  	inline void setPointXYZ_RGBf(
  		const size_t idx, const coords_t x, const coords_t y, const coords_t z,
  		const float r, const float g, const float b)
  	{
  		MRPT_UNUSED_PARAM(r);
  		MRPT_UNUSED_PARAM(g);
  		MRPT_UNUSED_PARAM(b);
  		derived().setPointXYZ(idx, x, y, z);
  	}
  
  	/** Get XYZ_RGBu8 coordinates of i'th point */
  	template <typename T>
  	inline void getPointXYZ_RGBu8(
  		const size_t idx, T& x, T& y, T& z, uint8_t& r, uint8_t& g,
  		uint8_t& b) const
  	{
  		derived().getPointXYZ(idx, x, y, z);
  		r = g = b = 255;
  	}
  	/** Set XYZ_RGBu8 coordinates of i'th point */
  	inline void setPointXYZ_RGBu8(
  		const size_t idx, const coords_t x, const coords_t y, const coords_t z,
  		const uint8_t r, const uint8_t g, const uint8_t b)
  	{
  		MRPT_UNUSED_PARAM(r);
  		MRPT_UNUSED_PARAM(g);
  		MRPT_UNUSED_PARAM(b);
  		derived().setPointXYZ(idx, x, y, z);
  	}
  
  	/** Get RGBf color of i'th point */
  	inline void getPointRGBf(
  		const size_t idx, float& r, float& g, float& b) const
  	{
  		MRPT_UNUSED_PARAM(idx);
  		r = g = b = 1.0f;
  	}
  	/** Set XYZ_RGBf coordinates of i'th point */
  	inline void setPointRGBf(
  		const size_t idx, const float r, const float g, const float b)
  	{
  		MRPT_UNUSED_PARAM(idx);
  		MRPT_UNUSED_PARAM(r);
  		MRPT_UNUSED_PARAM(g);
  		MRPT_UNUSED_PARAM(b);
  	}
  
  	/** Get RGBu8 color of i'th point */
  	inline void getPointRGBu8(
  		const size_t idx, uint8_t& r, uint8_t& g, uint8_t& b) const
  	{
  		MRPT_UNUSED_PARAM(idx);
  		r = g = b = 255;
  	}
  	/** Set RGBu8 coordinates of i'th point */
  	inline void setPointRGBu8(
  		const size_t idx, const uint8_t r, const uint8_t g, const uint8_t b)
  	{
  		MRPT_UNUSED_PARAM(idx);
  		MRPT_UNUSED_PARAM(r);
  		MRPT_UNUSED_PARAM(g);
  		MRPT_UNUSED_PARAM(b);
  	}
  };  // end of PointCloudAdapterHelperNoRGB
  }  // End of namespace detail
  
  }  // namespace opengl
  }  // namespace mrpt
  