oc_tree.h
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00001 /*
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00035 #ifndef OCT_TREE_HH
00036 #define OCT_TREE_HH
00037 
00038 #include <ndt_map/spatial_index.h>
00039 #include <ndt_map/ndt_cell.h>
00040 
00041 #include <vector>
00042 #include <cstdio>
00043 #include <Eigen/Core>
00044 
00045 namespace lslgeneric
00046 {
00047 
00048 template <typename PointT>
00049 class AdaptiveOctTree;
00057 template <typename PointT>
00058 class OctTree : public SpatialIndex<PointT>
00059 {
00060 protected:
00061     OctTree* parent_;
00062     OctTree *children_[8];
00063     NDTCell<PointT> *myCell_;
00064 
00065     std::vector< Cell<PointT>* > myLeafs_;
00066     unsigned int depth_;
00067     bool leaf_;
00068     bool leafsCached_;
00069 
00071     virtual size_t getIndexForPoint(const PointT &pt) const;
00072 
00074     virtual void computeLeafCells();
00075 
00076 
00077 public:
00078     //--- OctTree Parameters ---//
00080     int MAX_DEPTH;
00082     int MAX_POINTS;
00084     double SMALL_CELL_SIZE;
00086     double BIG_CELL_SIZE;
00087     bool parametersSet_;
00088 
00090     OctTree();
00092     OctTree(PointT center, double xsize, double ysize,
00093             double zsize, NDTCell<PointT>* type, OctTree<PointT> *_parent=NULL, unsigned int _depth=0);
00094     virtual ~OctTree();
00095 
00097     void setParameters(double _BIG_CELL_SIZE    =4,
00098                        double _SMALL_CELL_SIZE   =0.5 ,
00099                        int _MAX_POINTS          =10,
00100                        int _MAX_DEPTH           =20
00101                       );
00102 
00104     virtual Cell<PointT>* addPoint(const PointT &point);
00105 
00107     virtual Cell<PointT>* getCellForPoint(const PointT &point);
00108     inline virtual Cell<PointT>* getMyCell()
00109     {
00110         return myCell_;
00111     }
00112     virtual OctTree<PointT>* getLeafForPoint(const PointT &point);
00113 
00115     virtual void setCellType(Cell<PointT> *type);
00116 
00118     virtual typename SpatialIndex<PointT>::CellVectorItr begin();
00120     virtual typename SpatialIndex<PointT>::CellVectorItr end();
00121 
00123     void print();
00124 
00126     inline OctTree<PointT>* getChild(int idx)
00127     {
00128         if(idx<8 && idx>=0)
00129         {
00130             return children_[idx];
00131         }
00132         return NULL;
00133     }
00134     inline bool isLeaf()
00135     {
00136         return leaf_;
00137     }
00138 
00140     virtual SpatialIndex<PointT>* clone() const;
00141     virtual SpatialIndex<PointT>* copy() const;
00142 
00143     virtual void setCenter(const double &cx, const double &cy, const double &cz);
00144     virtual void setSize(const double &sx, const double &sy, const double &sz);
00145 
00146     virtual void getNeighbors(const PointT &point, const double &radius, std::vector<Cell<PointT>*> &cells);
00147     virtual bool intersectSphere(const PointT center, const double &radius) const;
00148 
00149     virtual Cell<PointT>* getClosestLeafCell(const PointT &pt);
00150     virtual NDTCell<PointT>* getClosestNDTCell(const PointT &pt);
00151 
00152     friend class AdaptiveOctTree<PointT>;
00153 public:
00154     EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00155 };
00156 
00157 } //end namespace
00158 
00159 #include<ndt_map/impl/oc_tree.hpp>
00160 
00161 #endif


ndt_map
Author(s): Todor Stoyanov, Jari Saarinen, Henrik Andreasson
autogenerated on Wed Aug 26 2015 15:24:41