OcTreeBaseSE.h

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/*
 * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
 * http://octomap.github.com/
 *
 * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
 * All rights reserved.
 * License: New BSD
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
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 *       documentation and/or other materials provided with the distribution.
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 *       this software without specific prior written permission.
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#ifndef OCTOMAP_OCTREE_BASE_SE_H
#define OCTOMAP_OCTREE_BASE_SE_H


#include "OcTreeBase.h"
#include "OcTreeLUT.h"


namespace octomap {


  template <class NODE>
    class OcTreeBaseSE: public OcTreeBase<NODE> {

  public:

    OcTreeBaseSE(double _resolution);
    virtual ~OcTreeBaseSE();
    
    bool computeRayKeys(const point3d& origin, const point3d& end, KeyRay& ray) const;

    NODE* getLUTNeighbor(const point3d& value, OcTreeLUT::NeighborDirection dir) const;


  protected:

    KeyRay keyray;
    OcTreeLUT* lut;

  };


}

#include "OcTreeBaseSE.hxx"

#endif