cell_vector.h

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#ifndef LSL_CELL_VECTOR_HH
#define LSL_CELL_VECTOR_HH

#include <ndt_map/spatial_index.h>
#include <ndt_map/ndt_cell.h>
#include <pcl/kdtree/kdtree_flann.h>

namespace lslgeneric
{

template <typename PointT>
class CellVector : public SpatialIndex<PointT>
{
public:
    CellVector();
    CellVector(Cell<PointT>* cellPrototype);
    CellVector(const CellVector<PointT>& other)
    {
        //std::cout<<"CREATE COPY CELL VECTOR\n";
        this = other.copy();
    }
    virtual ~CellVector();

    virtual Cell<PointT>* getCellForPoint(const PointT &point);
    virtual Cell<PointT>* addPoint(const PointT &point);
    void addCellPoints(pcl::PointCloud<PointT> pc, const std::vector<size_t> &indices);
    void addCell(Cell<PointT>* cell);
    void addNDTCell(NDTCell<PointT>* cell);

    virtual typename SpatialIndex<PointT>::CellVectorItr begin();
    virtual typename SpatialIndex<PointT>::CellVectorItr end();
    virtual int size();

    virtual SpatialIndex<PointT>* clone() const;
    virtual SpatialIndex<PointT>* copy() const;

    virtual void getNeighbors(const PointT &point, const double &radius, std::vector<Cell<PointT>*> &cells);

    virtual void setCellType(Cell<PointT> *type);


    void initKDTree();

    NDTCell<PointT>* getClosestNDTCell(const PointT &pt);
    std::vector<NDTCell<PointT>*> getClosestNDTCells(const PointT &point, double &radius);
    NDTCell<PointT>* getCellIdx(unsigned int idx) const;

    void cleanCellsAboveSize(double size);
    int loadFromJFF(FILE * jffin);
private:
    std::vector<Cell<PointT>*> activeCells;
    Cell<PointT> *protoType;
    pcl::KdTreeFLANN<PointT> meansTree;
    typename pcl::KdTree<PointT>::PointCloudPtr mp;
    bool treeUpdated;
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};


}; //end namespace
#include <ndt_map/impl/cell_vector.hpp>

#endif