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