octree_key.h

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 *  Point Cloud Library (PCL) - www.pointclouds.org
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#ifndef PCL_OCTREE_KEY_H
#define PCL_OCTREE_KEY_H

#include <string>

namespace pcl
{
  namespace octree
  {


    class OctreeKey
    {
    public:

      OctreeKey () :
          x (0), y (0), z (0)
      {
      }

      OctreeKey (unsigned int keyX, unsigned int keyY, unsigned int keyZ) :
          x (keyX), y (keyY), z (keyZ)
      {
      }

      OctreeKey (const OctreeKey& source)
      {
        memcpy(key_, source.key_, sizeof(key_));
      }

      bool
      operator == (const OctreeKey& b) const
      {
        return ((b.x == this->x) && (b.y == this->y) && (b.z == this->z));
      }

      bool
      operator <= (const OctreeKey& b) const
      {
        return ((b.x >= this->x) && (b.y >= this->y) && (b.z >= this->z));
      }

      bool
      operator >= (const OctreeKey& b) const
      {
        return ((b.x <= this->x) && (b.y <= this->y) && (b.z <= this->z));
      }

      inline void
      pushBranch (unsigned char childIndex)
      {
        this->x = (this->x << 1) | (!!(childIndex & (1 << 2)));
        this->y = (this->y << 1) | (!!(childIndex & (1 << 1)));
        this->z = (this->z << 1) | (!!(childIndex & (1 << 0)));
      }

      inline void
      popBranch ()
      {
        this->x >>= 1;
        this->y >>= 1;
        this->z >>= 1;
      }

      inline unsigned char
      getChildIdxWithDepthMask (unsigned int depthMask) const
      {
        return static_cast<unsigned char> (((!!(this->x & depthMask)) << 2)
                                         | ((!!(this->y & depthMask)) << 1)
                                         |  (!!(this->z & depthMask)));
      }

      /* \brief maximum depth that can be addressed */
      static const unsigned char maxDepth = static_cast<const unsigned char>(sizeof(uint32_t)*8);

      // Indices addressing a voxel at (X, Y, Z)

      union
      {
        struct
        {
          uint32_t x;
          uint32_t y;
          uint32_t z;
        };
        uint32_t key_[3];
      };


    };
  }
}

#endif