00001 /* 00002 * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees 00003 * http://octomap.github.com/ 00004 * 00005 * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg 00006 * All rights reserved. 00007 * License: New BSD 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above copyright 00015 * notice, this list of conditions and the following disclaimer in the 00016 * documentation and/or other materials provided with the distribution. 00017 * * Neither the name of the University of Freiburg nor the names of its 00018 * contributors may be used to endorse or promote products derived from 00019 * this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00022 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00023 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00024 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00025 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00026 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00027 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00028 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00029 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00030 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00031 * POSSIBILITY OF SUCH DAMAGE. 00032 */ 00033 00034 #ifndef OCTOMAP_ABSTRACT_OCTREE_H 00035 #define OCTOMAP_ABSTRACT_OCTREE_H 00036 00037 #include <cstddef> 00038 #include <fstream> 00039 #include <string> 00040 #include <iostream> 00041 #include <map> 00042 00043 namespace octomap { 00044 00050 class AbstractOcTree { 00051 friend class StaticMapInit; 00052 public: 00053 AbstractOcTree(); 00054 virtual ~AbstractOcTree() {}; 00055 00057 virtual AbstractOcTree* create() const = 0; 00058 00060 virtual std::string getTreeType() const = 0; 00061 00062 00063 00064 virtual double getResolution() const = 0; 00065 virtual void setResolution(double res) = 0; 00066 virtual size_t size() const = 0; 00067 virtual size_t memoryUsage() const = 0; 00068 virtual size_t memoryUsageNode() const = 0; 00069 virtual void getMetricMin(double& x, double& y, double& z) = 0; 00070 virtual void getMetricMin(double& x, double& y, double& z) const = 0; 00071 virtual void getMetricMax(double& x, double& y, double& z) = 0; 00072 virtual void getMetricMax(double& x, double& y, double& z) const = 0; 00073 virtual void getMetricSize(double& x, double& y, double& z) = 0; 00074 00075 virtual void prune() = 0; 00076 virtual void expand() = 0; 00077 virtual void clear() = 0; 00078 00079 //-- Iterator tree access 00080 00081 // default iterator is leaf_iterator 00082 // class leaf_iterator; 00083 // class tree_iterator; 00084 // class leaf_bbx_iterator; 00085 // typedef leaf_iterator iterator; 00086 class iterator_base; 00087 // /// @return beginning of the tree as leaf iterator 00088 //virtual iterator_base begin(unsigned char maxDepth=0) const = 0; 00089 // /// @return end of the tree as leaf iterator 00090 // virtual const iterator end() const = 0; 00091 // /// @return beginning of the tree as leaf iterator 00092 // virtual leaf_iterator begin_leafs(unsigned char maxDepth=0) const = 0; 00093 // /// @return end of the tree as leaf iterator 00094 // virtual const leaf_iterator end_leafs() const = 0; 00095 // /// @return beginning of the tree as leaf iterator in a bounding box 00096 // virtual leaf_bbx_iterator begin_leafs_bbx(const OcTreeKey& min, const OcTreeKey& max, unsigned char maxDepth=0) const = 0; 00097 // /// @return beginning of the tree as leaf iterator in a bounding box 00098 // virtual leaf_bbx_iterator begin_leafs_bbx(const point3d& min, const point3d& max, unsigned char maxDepth=0) const = 0; 00099 // /// @return end of the tree as leaf iterator in a bounding box 00100 // virtual const leaf_bbx_iterator end_leafs_bbx() const = 0; 00101 // /// @return beginning of the tree as iterator to all nodes (incl. inner) 00102 // virtual tree_iterator begin_tree(unsigned char maxDepth=0) const = 0; 00103 // /// @return end of the tree as iterator to all nodes (incl. inner) 00104 // const tree_iterator end_tree() const = 0; 00105 00107 bool write(const std::string& filename) const; 00109 bool write(std::ostream& s) const; 00110 00118 static AbstractOcTree* createTree(const std::string id, double res); 00119 00130 static AbstractOcTree* read(const std::string& filename); 00131 00134 static AbstractOcTree* read(std::istream &s); 00135 00142 virtual std::istream& readData(std::istream &s) = 0; 00143 00146 virtual std::ostream& writeData(std::ostream &s) const = 0; 00147 private: 00149 static std::map<std::string, AbstractOcTree*>& classIDMapping(); 00150 00151 protected: 00152 static bool readHeader(std::istream &s, std::string& id, unsigned& size, double& res); 00153 static void registerTreeType(AbstractOcTree* tree); 00154 00155 static const std::string fileHeader; 00156 }; 00157 00158 00159 00160 00161 } // end namespace 00162 00163 00164 #endif