octree_container.h

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/*
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 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
 *
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 *     notice, this list of conditions and the following disclaimer.
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 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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 * $Id: octree_nodes.h 5596 2012-04-17 15:09:31Z jkammerl $
 */

#ifndef PCL_OCTREE_CONTAINER_H
#define PCL_OCTREE_CONTAINER_H

#include <string.h>
#include <vector>
#include <cstddef>

#include <pcl/pcl_macros.h>

namespace pcl
{
  namespace octree
  {

    class OctreeContainerBase
    {
    public:
      OctreeContainerBase ()
      {
      }

      OctreeContainerBase (const OctreeContainerBase&)
      {
      }

      virtual
      ~OctreeContainerBase ()
      {
      }

      virtual bool
      operator== (const OctreeContainerBase&) const
      {
        return false;
      }

      bool
      operator!= (const OctreeContainerBase& other) const
      {
        return (!operator== (other));
      }

      virtual size_t
      getSize ()
      {
        return 0u;
      }

      virtual void
      reset () = 0;

      void
      addPointIndex (const int&)
      {
      }

      void
      getPointIndex (int&) const
      {
      }

      void
      getPointIndices (std::vector<int>&) const
      {
      }

    };


    class OctreeContainerEmpty : public OctreeContainerBase
    {
    public:
      OctreeContainerEmpty () :
          OctreeContainerBase ()
      {
      }

      OctreeContainerEmpty (const OctreeContainerEmpty&) :
          OctreeContainerBase ()
      {
      }

      virtual
      ~OctreeContainerEmpty ()
      {
      }

      virtual OctreeContainerEmpty *
      deepCopy () const
      {
        return (new OctreeContainerEmpty (*this));
      }

      virtual size_t
      getSize () const
      {
        return 0;
      }

      virtual void
      reset ()
      {

      }

      void
      addPointIndex (int)
      {
      }

      int
      getPointIndex () const
      {
        assert("getPointIndex: undefined point index");
        return -1;
      }

      void
      getPointIndices (std::vector<int>&) const
      {
      }

    };


      class OctreeContainerPointIndex : public OctreeContainerBase
      {
      public:
        OctreeContainerPointIndex () :
            OctreeContainerBase (), data_ ()
        {
          reset ();
        }

        OctreeContainerPointIndex (const OctreeContainerPointIndex& source) :
            OctreeContainerBase (), data_ (source.data_)
        {
        }

        virtual
        ~OctreeContainerPointIndex ()
        {
        }

        virtual OctreeContainerPointIndex*
        deepCopy () const
        {
          return (new OctreeContainerPointIndex (*this));
        }

        virtual bool
        operator== (const OctreeContainerBase& other) const
        {
          const OctreeContainerPointIndex* otherConDataT = dynamic_cast<const OctreeContainerPointIndex*> (&other);

          return (this->data_ == otherConDataT->data_);
        }

        void
        addPointIndex (int data_arg)
        {
          data_ = data_arg;
        }

        int
        getPointIndex () const
        {
          return data_;
        }

        void
        getPointIndices (std::vector<int>& data_vector_arg) const
        {
          if (data_>=0)
          data_vector_arg.push_back (data_);
        }

        size_t
        getSize () const
        {
          return data_<0 ? 0 : 1;
        }

        virtual void
        reset ()
        {
          data_ = -1;
        }
      protected:
        int data_;
      };


      class OctreeContainerPointIndices : public OctreeContainerBase
      {
      public:
        OctreeContainerPointIndices () :
          OctreeContainerBase (), leafDataTVector_ ()
        {
        }

        OctreeContainerPointIndices (const OctreeContainerPointIndices& source) :
            OctreeContainerBase (), leafDataTVector_ (source.leafDataTVector_)
        {
        }

        virtual
        ~OctreeContainerPointIndices ()
        {
        }

        virtual OctreeContainerPointIndices *
        deepCopy () const
        {
          return (new OctreeContainerPointIndices (*this));
        }

        virtual bool
        operator== (const OctreeContainerBase& other) const
        {
          const OctreeContainerPointIndices* otherConDataTVec = dynamic_cast<const OctreeContainerPointIndices*> (&other);

          return (this->leafDataTVector_ == otherConDataTVec->leafDataTVector_);
        }

        void
        addPointIndex (int data_arg)
        {
          leafDataTVector_.push_back (data_arg);
        }

        int
        getPointIndex ( ) const
        {
          return leafDataTVector_.back ();
        }

        void
        getPointIndices (std::vector<int>& data_vector_arg) const
        {
          data_vector_arg.insert (data_vector_arg.end (), leafDataTVector_.begin (), leafDataTVector_.end ());
        }

        std::vector<int>&
        getPointIndicesVector ()
        {
          return leafDataTVector_;
        }

        size_t
        getSize () const
        {
          return leafDataTVector_.size ();
        }

        virtual void
        reset ()
        {
          leafDataTVector_.clear ();
        }

      protected:
        std::vector<int> leafDataTVector_;
      };

  }
}

#endif