#include <OcTreeLUT.h>
Public Types | |
enum | NeighborDirection { W = 0, E, N, S, T, B, SW, NW, SE, NE, TW, BW, TE, BE, TN, TS, BN, BS, TNW, TSW, TNE, TSE, BNW, BSW, BNE, BSE } |
Public Member Functions | |
bool | genNeighborKey (const OcTreeKey &node_key, const signed char &dir, OcTreeKey &neighbor_key) const |
OcTreeLUT (unsigned int _max_depth) | |
~OcTreeLUT () | |
Protected Member Functions | |
void | changeKey (const int &val, OcTreeKey &key, const unsigned short int &i) const |
unsigned int | genPos (const OcTreeKey &key, const int &i) const |
void | initLUT () |
Protected Attributes | |
unsigned int | max_depth |
signed char | nf_multiple_values [26][4] |
signed char | nf_rec_values [8][26] |
signed char | nf_values [8][26] |
Implements a lookup table that allows to computer keys of neighbor cells directly, see: Samet 1989, "Implementing ray tracing with octrees and neighbor finding"
Definition at line 64 of file OcTreeLUT.h.
(N)orth: positive X (S)outh: negative X (W)est : positive Y (E)ast: negative Y (T)op : positive Z (B)ottom: negative Z
Definition at line 74 of file OcTreeLUT.h.
octomap::OcTreeLUT::OcTreeLUT | ( | unsigned int | _max_depth | ) |
Definition at line 42 of file OcTreeLUT.cpp.
Definition at line 47 of file OcTreeLUT.cpp.
void octomap::OcTreeLUT::changeKey | ( | const int & | val, |
OcTreeKey & | key, | ||
const unsigned short int & | i | ||
) | const [protected] |
Definition at line 537 of file OcTreeLUT.cpp.
bool octomap::OcTreeLUT::genNeighborKey | ( | const OcTreeKey & | node_key, |
const signed char & | dir, | ||
OcTreeKey & | neighbor_key | ||
) | const |
Definition at line 583 of file OcTreeLUT.cpp.
unsigned int octomap::OcTreeLUT::genPos | ( | const OcTreeKey & | key, |
const int & | i | ||
) | const [protected] |
Definition at line 525 of file OcTreeLUT.cpp.
void octomap::OcTreeLUT::initLUT | ( | ) | [protected] |
Definition at line 50 of file OcTreeLUT.cpp.
unsigned int octomap::OcTreeLUT::max_depth [protected] |
Definition at line 98 of file OcTreeLUT.h.
signed char octomap::OcTreeLUT::nf_multiple_values[26][4] [protected] |
Definition at line 102 of file OcTreeLUT.h.
signed char octomap::OcTreeLUT::nf_rec_values[8][26] [protected] |
Definition at line 101 of file OcTreeLUT.h.
signed char octomap::OcTreeLUT::nf_values[8][26] [protected] |
Definition at line 100 of file OcTreeLUT.h.