iLab Neuromorphic Robotics Toolkit  0.1
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TransformsImpl.H
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1 /*! @file
2  @author Shane Grant
3  @copyright GNU Public License (GPL v3)
4  @section License
5  @verbatim
6  // ////////////////////////////////////////////////////////////////////////
7  // The iLab Neuromorphic Robotics Toolkit (NRT) //
8  // Copyright 2010-2012 by the University of Southern California (USC) //
9  // and the iLab at USC. //
10  // //
11  // iLab - University of Southern California //
12  // Hedco Neurociences Building, Room HNB-10 //
13  // Los Angeles, Ca 90089-2520 - USA //
14  // //
15  // See http://ilab.usc.edu for information about this project. //
16  // ////////////////////////////////////////////////////////////////////////
17  // This file is part of The iLab Neuromorphic Robotics Toolkit. //
18  // //
19  // The iLab Neuromorphic Robotics Toolkit is free software: you can //
20  // redistribute it and/or modify it under the terms of the GNU General //
21  // Public License as published by the Free Software Foundation, either //
22  // version 3 of the License, or (at your option) any later version. //
23  // //
24  // The iLab Neuromorphic Robotics Toolkit is distributed in the hope //
25  // that it will be useful, but WITHOUT ANY WARRANTY; without even the //
26  // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR //
27  // PURPOSE. See the GNU General Public License for more details. //
28  // //
29  // You should have received a copy of the GNU General Public License //
30  // along with The iLab Neuromorphic Robotics Toolkit. If not, see //
31  // <http://www.gnu.org/licenses/>. //
32  // ////////////////////////////////////////////////////////////////////////
33  @endverbatim */
34 
35 #ifndef NRT_POINTCLOUD2_COMMON_DETAILS_TRANSFORMSIMPL_H_
36 #define NRT_POINTCLOUD2_COMMON_DETAILS_TRANSFORMSIMPL_H_
37 
38 //! @cond PRIVATE_NEVERDEFINED
39 template <class Field> inline
40 nrt::PointCloud2 nrt::demeanPointCloud( PointCloud2 const input, Field const & centroid )
41 {
42  nrt::PointCloud2 output = input;
43 
44  for( auto i = output.begin<Field>(), end = output.end<Field>(); i != end; ++i )
45  i->template get<Field>() -= centroid;
46 
47  return output;
48 }
49 //! @endcond
50 
51 #endif // NRT_POINTCLOUD2_COMMON_DETAILS_TRANSFORMSIMPL_H_