node_stamped_base_pa.h

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/******************************************************************************
*                                                                             *
* node_stamped_base_pa.h                                                      *
* ======================                                                      *
*                                                                             *
* File is based on OcTreeStamped.h and OcTreeNode.h                           *
*                                                                             *
*******************************************************************************
*                                                                             *
* github repository                                                           *
*   https://github.com/TUC-ProAut/ros_octomap                                 *
*                                                                             *
* Chair of Automation Technology, Technische Universität Chemnitz             *
*   https://www.tu-chemnitz.de/etit/proaut                                    *
*                                                                             *
*******************************************************************************
*                                                                             *
* New BSD License                                                             *
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* Copyright (c) 2015-2018, Peter Weissig, Technische Universität Chemnitz     *
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#ifndef NODE_STAMPED_BASE_PA_H
#define NODE_STAMPED_BASE_PA_H

// local headers
#include "octomap_pa/time_pa.h"

// standard headers
#include <stdint.h>
#include <iostream>
#include <cstddef>

//**************************[cNodeStampedBasePa]*******************************
template <typename NODE>
class cNodeStampedBasePa : public NODE {

  public:
    typedef NODE                     NodeTypeBase;
    typedef cNodeStampedBasePa<NODE> NodeTypeFull;

    cNodeStampedBasePa();
    cNodeStampedBasePa(const cNodeStampedBasePa<NODE>& other);
    cNodeStampedBasePa(const cTimePa &timestamp);
    virtual ~cNodeStampedBasePa();

    bool operator==(const cNodeStampedBasePa<NODE>& other) const;

    void copyData(const cNodeStampedBasePa<NODE>& from);

    // streaming (saving and loading)
    virtual std::istream& readData(std::istream &s);
    virtual std::ostream& writeData(std::ostream &s) const;

    // timestamp
    inline const cTimePa& getTimestamp() const;
    inline void setTimestamp(const cTimePa &timestamp);
    inline void updateTimestamp(const cTimePa &timestamp);

    // update occupancy and timesteps of inner nodes
    inline void updateTimestampChildren();
    inline void updateOccupancyChildren();

    // deprecated - this is moved to the octree itself or
    //              it is using virtual functions (V1.8)
    // but we are using an older version (ros indigo == V1.6)
    bool createChild(unsigned int i);
    virtual inline NodeTypeFull* getChild(unsigned int i);
    virtual inline const NodeTypeFull* getChild(unsigned int i) const;
    bool collapsible(void) const;
    bool deleteChild(unsigned int i);
    bool pruneNode(void);
    void expandNode(void);

    std::istream& readValue (std::istream &s);
    std::ostream& writeValue(std::ostream &s) const;

  protected:
    cTimePa timestamp;
};

#include "octomap_pa/node_stamped_base_pa.hxx"

#endif //#ifndef NODE_STAMPED_BASE_PA_H