constants.h

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#pragma once
 
// PCL
#include <pcl/point_types.h>
 
// core
#include <ArmarXCore/core/exceptions/LocalException.h>
 
// memory
#include <RobotAPI/libraries/armem/core/MemoryID.h>
 
namespace visionx::armem::pointcloud
{
    const constexpr char* POINTXYZ_CORE_SEGMENT_NAME = "PointCloudXYZ";
    const constexpr char* POINTXYZL_CORE_SEGMENT_NAME = "PointCloudXYZL";
    const constexpr char* POINTXYZRGBA_CORE_SEGMENT_NAME = "PointCloudXYZRGBA";
    const constexpr char* POINTXYZRGBL_CORE_SEGMENT_NAME = "PointCloudXYZRGBL";
 
    const constexpr char* ENTITY_NAME = "PointCloud";
 
    template <class PointT>
    inline std::string
    GetCoreSegmentNameFor()
    {
        if (std::is_same<PointT, pcl::PointXYZ>::value)
        {
            return POINTXYZ_CORE_SEGMENT_NAME;
        }
        if (std::is_same<PointT, pcl::PointXYZL>::value)
        {
            return POINTXYZL_CORE_SEGMENT_NAME;
        }
        if (std::is_same<PointT, pcl::PointXYZRGBA>::value)
        {
            return POINTXYZRGBA_CORE_SEGMENT_NAME;
        }
        if (std::is_same<PointT, pcl::PointXYZRGBL>::value)
        {
            return POINTXYZRGBL_CORE_SEGMENT_NAME;
        }
        throw armarx::LocalException("Could not map a pcl::PointT to a known core segment.");
    }
} // namespace visionx::armem::pointcloud