OcTreeDataNode.h
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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_OCTREE_DATA_NODE_H
00035 #define OCTOMAP_OCTREE_DATA_NODE_H
00036 
00037 
00038 #include "octomap_types.h"
00039 #include "assert.h"
00040 #include <bitset>
00041 
00042 namespace octomap {
00043 
00044   class AbstractOcTreeNode {
00045 
00046 
00047   };
00048 
00056   template<typename T> class OcTreeDataNode: public AbstractOcTreeNode {
00057 
00058   public:
00059 
00060     OcTreeDataNode();
00061     OcTreeDataNode(T initVal);
00063     OcTreeDataNode(const OcTreeDataNode& rhs);
00064 
00065     ~OcTreeDataNode();
00066 
00068     bool operator==(const OcTreeDataNode& rhs) const;
00069 
00070 
00071     // -- children  ----------------------------------
00072 
00073 
00075     bool createChild(unsigned int i);
00076 
00080     bool childExists(unsigned int i) const;
00081 
00083     OcTreeDataNode<T>* getChild(unsigned int i);
00084 
00086     const OcTreeDataNode<T>* getChild(unsigned int i) const;
00087 
00089     bool hasChildren() const;
00090 
00093     bool collapsible() const;
00094 
00096     void deleteChild(unsigned int i);
00097 
00098     // -- pruning of children  -----------------------
00099 
00100 
00105     bool pruneNode();
00106 
00115     void expandNode();
00116 
00118     T getValue() const{return value;};
00120     void setValue(T v) {value = v;};
00121 
00122     // file IO:
00123 
00131     std::istream& readValue(std::istream &s);
00132 
00141     std::ostream& writeValue(std::ostream &s) const;
00142 
00143 
00145     typedef T DataType;
00146 
00147 
00148   protected:
00149     void allocChildren();
00150 
00152     OcTreeDataNode<T>** children;
00154     T value;
00155 
00156   };
00157 
00158 
00159 } // end namespace
00160 
00161 #include "octomap/OcTreeDataNode.hxx"
00162 
00163 #endif


octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Thu Aug 27 2015 14:13:14