Fix part of pointed out in first review

Fix part of pointed out in first review.
This commit will be squashed when review is over.

io/include/pcl/io/vlp_grabber.h

@@ -68,7 +68,7 @@ namespace pcl
        * \param[in] port UDP Port that should be used to listen for VLP packets
        */
       VLPGrabber (const boost::asio::ip::address& ipAddress,
-                  const unsigned short port);
+                  const uint16_t port);
 
       /** \brief virtual Destructor inherited from the Grabber interface. It never throws. */
       virtual
@@ -80,17 +80,17 @@ namespace pcl
       virtual std::string
       getName () const;
 
-      /** \brief Allows one to customize the colors used for each of the lasers.
-       */
+      /** \brief Allows one to customize the colors used for each of the lasers. */
       void
       setLaserColorRGB (const pcl::RGB& color,
-                        unsigned int laserNumber);
+                        uint8_t laserNumber);
 
     protected:
-      static const int VLP_MAX_NUM_LASERS = 16;
-      static const int VLP_DUAL_MODE = 0x39;
+      static const uint8_t VLP_MAX_NUM_LASERS = 16;
+      static const uint8_t VLP_DUAL_MODE = 0x39;
 
     private:
+      /** \brief Lookup table of Colors for coloring each of the lasers. */
       pcl::RGB laser_rgb_mapping_[VLP_MAX_NUM_LASERS];
 
       virtual void

io/src/vlp_grabber.cpp

@@ -50,7 +50,7 @@ pcl::VLPGrabber::VLPGrabber (const std::string& pcapFile) :
 
 /////////////////////////////////////////////////////////////////////////////
 pcl::VLPGrabber::VLPGrabber (const boost::asio::ip::address& ipAddress,
-                             const unsigned short int port) :
+                             const uint16_t port) :
     HDLGrabber (ipAddress, port)
 {
   initializeLaserMapping ();
@@ -66,7 +66,7 @@ pcl::VLPGrabber::~VLPGrabber () throw ()
 void
 pcl::VLPGrabber::initializeLaserMapping ()
 {
-  for (int i = 0; i < 8; i++)
+  for (uint8_t i = 0; i < VLP_MAX_NUM_LASERS / 2u; i++)
   {
      laser_rgb_mapping_[i * 2].b = static_cast<uint8_t> (i * 6 + 64);
      laser_rgb_mapping_[i * 2 + 1].b = static_cast<uint8_t> ((i + 16) * 6 + 64);
@@ -78,7 +78,7 @@ void
 pcl::VLPGrabber::loadVLP16Corrections ()
 {
   double vlp16_vertical_corrections[] = { -15, 1, -13, 3, -11, 5, -9, 7, -7, 9, -5, 11, -3, 13, -1, 15 };
-  for (int i = 0; i < VLP_MAX_NUM_LASERS; i++)
+  for (uint8_t i = 0; i < VLP_MAX_NUM_LASERS; i++)
   {
     HDLGrabber::laser_corrections_[i].azimuthCorrection = 0.0;
     HDLGrabber::laser_corrections_[i].distanceCorrection = 0.0;
@@ -114,7 +114,7 @@ pcl::VLPGrabber::toPointClouds (HDLDataPacket *dataPacket)
 
   double interpolated_azimuth_delta;
 
-  int index = 1;
+  uint8_t index = 1;
   if (dataPacket->mode == VLP_DUAL_MODE)
   {
     index = 2;
@@ -128,11 +128,11 @@ pcl::VLPGrabber::toPointClouds (HDLDataPacket *dataPacket)
     interpolated_azimuth_delta = (dataPacket->firingData[index].rotationalPosition - dataPacket->firingData[0].rotationalPosition) / 2.0;
   }
 
-  for (int i = 0; i < HDL_FIRING_PER_PKT; ++i)
+  for (uint8_t i = 0; i < HDL_FIRING_PER_PKT; ++i)
   {
     HDLFiringData firing_data = dataPacket->firingData[i];
 
-    for (int j = 0; j < HDL_LASER_PER_FIRING; j++)
+    for (uint8_t j = 0; j < HDL_LASER_PER_FIRING; j++)
     {
       double current_azimuth = firing_data.rotationalPosition;
       if (j >= VLP_MAX_NUM_LASERS)
@@ -226,10 +226,10 @@ pcl::VLPGrabber::getName () const
 /////////////////////////////////////////////////////////////////////////////
 void
 pcl::VLPGrabber::setLaserColorRGB (const pcl::RGB& color,
-                                   unsigned int laserNumber)
+                                   uint8_t laserNumber)
 {
-  if (laserNumber >= (unsigned int) VLP_MAX_NUM_LASERS)
-      return;
+  if (laserNumber >= VLP_MAX_NUM_LASERS)
+    return;
 
   laser_rgb_mapping_[laserNumber] = color;
 }