OcTreeLUTdefs.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
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

// TODO: convert defines to ENUMs

// Lookup table for neighbor search

  //front
#define LUT_N 0
#define LUT_S 1
#define LUT_E 2
#define LUT_W 3
#define LUT_F 4
#define LUT_R 5

  //edge
#define LUT_NW 6
#define LUT_NE 7
#define LUT_SW 8
#define LUT_SE 9
#define LUT_FN 10
#define LUT_RN 11
#define LUT_FS 12
#define LUT_RS 13
#define LUT_FE 14
#define LUT_FW 15
#define LUT_RE 16
#define LUT_RW 17

  //vertex
#define LUT_FNE 18
#define LUT_FNW 19
#define LUT_FSE 20
#define LUT_FSW 21
#define LUT_RNE 22
#define LUT_RNW 23
#define LUT_RSE 24
#define LUT_RSW 25

  //edge rec.-values
#define LUT_NW_TO_W 3
#define LUT_NW_TO_N 6
#define LUT_NE_TO_E 5
#define LUT_NE_TO_N 7
#define LUT_SW_TO_S 7
#define LUT_SW_TO_W 5
#define LUT_SE_TO_E 7
#define LUT_SE_TO_S 8
#define LUT_FN_TO_F 6
#define LUT_FN_TO_N 10
#define LUT_RN_TO_N 11
#define LUT_RN_TO_R 6
#define LUT_FS_TO_F 8
#define LUT_FS_TO_S 11
#define LUT_RS_TO_R 8
#define LUT_RS_TO_S 12
#define LUT_FE_TO_F 10
#define LUT_FE_TO_E 12
#define LUT_FW_TO_F 11
#define LUT_FW_TO_W 12
#define LUT_RE_TO_R 11
#define LUT_RE_TO_E 14
#define LUT_RW_TO_R 12
#define LUT_RW_TO_W 14

  //vertex rec.values
#define LUT_FNE_TO_E 16
#define LUT_FNE_TO_N 18
#define LUT_FNE_TO_NE 11
#define LUT_FNE_TO_F 14
#define LUT_FNE_TO_FN 8
#define LUT_FNE_TO_FE 4

#define LUT_FNW_TO_W 16
#define LUT_FNW_TO_NW 13
#define LUT_FNW_TO_N 19
#define LUT_FNW_TO_FW 4
#define LUT_FNW_TO_F 15
#define LUT_FNW_TO_FN 9

#define LUT_FSE_TO_S 19
#define LUT_FSE_TO_SE 11
#define LUT_FSE_TO_E 18
#define LUT_FSE_TO_FS 8
#define LUT_FSE_TO_F 16
#define LUT_FSE_TO_FE 6

#define LUT_FSW_TO_SW 13
#define LUT_FSW_TO_S 20
#define LUT_FSW_TO_W 18
#define LUT_FSW_TO_FS 9
#define LUT_FSW_TO_FW 6
#define LUT_FSW_TO_F 17

#define LUT_RNE_TO_R 17
#define LUT_RNE_TO_RE 6
#define LUT_RNE_TO_RN 11
#define LUT_RNE_TO_E 20
#define LUT_RNE_TO_N 22
#define LUT_RNE_TO_NE 15

#define LUT_RNW_TO_RW 6
#define LUT_RNW_TO_R 18
#define LUT_RNW_TO_RN 12
#define LUT_RNW_TO_W 20
#define LUT_RNW_TO_NW 17
#define LUT_RNW_TO_N 23

#define LUT_RSE_TO_RS 11
#define LUT_RSE_TO_R 19
#define LUT_RSE_TO_RE 8
#define LUT_RSE_TO_S 23
#define LUT_RSE_TO_SE 15
#define LUT_RSE_TO_E 22

#define LUT_RSW_TO_RS 12
#define LUT_RSW_TO_RW 8
#define LUT_RSW_TO_R 20
#define LUT_RSW_TO_SW 17
#define LUT_RSW_TO_S 24
#define LUT_RSW_TO_W 22

#define LUT_SELF 0

#define LUT_NO_REC 127
  //#define LUT_ 0