AbstractOcTree.h

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/*
 * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
 * http://octomap.github.com/
 *
 * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
 * All rights reserved.
 * License: New BSD
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the University of Freiburg nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 */

#ifndef OCTOMAP_ABSTRACT_OCTREE_H
#define OCTOMAP_ABSTRACT_OCTREE_H

#include <cstddef>
#include <fstream>
#include <string>
#include <iostream>
#include <map>

namespace octomap {

  class AbstractOcTree {
    friend class StaticMapInit;
  public:
    AbstractOcTree();
    virtual ~AbstractOcTree() {};

    virtual AbstractOcTree* create() const = 0;

    virtual std::string getTreeType() const = 0;



    virtual double getResolution() const = 0;
    virtual void setResolution(double res) = 0;
    virtual size_t size() const = 0;
    virtual size_t memoryUsage() const = 0;
    virtual size_t memoryUsageNode() const = 0;
    virtual void getMetricMin(double& x, double& y, double& z) = 0;
    virtual void getMetricMin(double& x, double& y, double& z) const = 0;
    virtual void getMetricMax(double& x, double& y, double& z) = 0;
    virtual void getMetricMax(double& x, double& y, double& z) const = 0;
    virtual void getMetricSize(double& x, double& y, double& z) = 0;

    virtual void prune() = 0;
    virtual void expand() = 0;
    virtual void clear() = 0;

    //-- Iterator tree access

    // default iterator is leaf_iterator
//    class leaf_iterator;
//    class tree_iterator;
//    class leaf_bbx_iterator;
//    typedef leaf_iterator iterator;
      class iterator_base;
//    /// @return beginning of the tree as leaf iterator
      //virtual iterator_base begin(unsigned char maxDepth=0) const = 0;
//    /// @return end of the tree as leaf iterator
//    virtual const iterator end() const = 0;
//    /// @return beginning of the tree as leaf iterator
//    virtual leaf_iterator begin_leafs(unsigned char maxDepth=0) const = 0;
//    /// @return end of the tree as leaf iterator
//    virtual const leaf_iterator end_leafs() const = 0;
//    /// @return beginning of the tree as leaf iterator in a bounding box
//    virtual leaf_bbx_iterator begin_leafs_bbx(const OcTreeKey& min, const OcTreeKey& max, unsigned char maxDepth=0) const = 0;
//    /// @return beginning of the tree as leaf iterator in a bounding box
//    virtual leaf_bbx_iterator begin_leafs_bbx(const point3d& min, const point3d& max, unsigned char maxDepth=0) const = 0;
//    /// @return end of the tree as leaf iterator in a bounding box
//    virtual const leaf_bbx_iterator end_leafs_bbx() const = 0;
//    /// @return beginning of the tree as iterator to all nodes (incl. inner)
//    virtual tree_iterator begin_tree(unsigned char maxDepth=0) const = 0;
//    /// @return end of the tree as iterator to all nodes (incl. inner)
//    const tree_iterator end_tree() const = 0;

    bool write(const std::string& filename) const;
    bool write(std::ostream& s) const;

    static AbstractOcTree* createTree(const std::string id, double res);

    static AbstractOcTree* read(const std::string& filename);

    static AbstractOcTree* read(std::istream &s);

    virtual std::istream& readData(std::istream &s) = 0;

    virtual std::ostream& writeData(std::ostream &s) const = 0;
  private:
    static std::map<std::string, AbstractOcTree*>& classIDMapping();

  protected:
    static bool readHeader(std::istream &s, std::string& id, unsigned& size, double& res);
    static void registerTreeType(AbstractOcTree* tree);

    static const std::string fileHeader;
  };




} // end namespace


#endif