OcTreeLUTdefs.h
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00001 /*
00002  * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
00003  * http://octomap.github.com/
00004  *
00005  * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
00006  * All rights reserved.
00007  * License: New BSD
00008  *
00009  * Redistribution and use in source and binary forms, with or without
00010  * modification, are permitted provided that the following conditions are met:
00011  *
00012  *     * Redistributions of source code must retain the above copyright
00013  *       notice, this list of conditions and the following disclaimer.
00014  *     * Redistributions in binary form must reproduce the above copyright
00015  *       notice, this list of conditions and the following disclaimer in the
00016  *       documentation and/or other materials provided with the distribution.
00017  *     * Neither the name of the University of Freiburg nor the names of its
00018  *       contributors may be used to endorse or promote products derived from
00019  *       this software without specific prior written permission.
00020  *
00021  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00022  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00023  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00024  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00025  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00026  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00027  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00028  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00029  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00030  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00031  * POSSIBILITY OF SUCH DAMAGE.
00032  */
00033 
00034 // TODO: convert defines to ENUMs
00035 
00036 // Lookup table for neighbor search
00037 
00038   //front
00039 #define LUT_N 0
00040 #define LUT_S 1
00041 #define LUT_E 2
00042 #define LUT_W 3
00043 #define LUT_F 4
00044 #define LUT_R 5
00045 
00046   //edge
00047 #define LUT_NW 6
00048 #define LUT_NE 7
00049 #define LUT_SW 8
00050 #define LUT_SE 9
00051 #define LUT_FN 10
00052 #define LUT_RN 11
00053 #define LUT_FS 12
00054 #define LUT_RS 13
00055 #define LUT_FE 14
00056 #define LUT_FW 15
00057 #define LUT_RE 16
00058 #define LUT_RW 17
00059 
00060   //vertex
00061 #define LUT_FNE 18
00062 #define LUT_FNW 19
00063 #define LUT_FSE 20
00064 #define LUT_FSW 21
00065 #define LUT_RNE 22
00066 #define LUT_RNW 23
00067 #define LUT_RSE 24
00068 #define LUT_RSW 25
00069 
00070   //edge rec.-values
00071 #define LUT_NW_TO_W 3
00072 #define LUT_NW_TO_N 6
00073 #define LUT_NE_TO_E 5
00074 #define LUT_NE_TO_N 7
00075 #define LUT_SW_TO_S 7
00076 #define LUT_SW_TO_W 5
00077 #define LUT_SE_TO_E 7
00078 #define LUT_SE_TO_S 8
00079 #define LUT_FN_TO_F 6
00080 #define LUT_FN_TO_N 10
00081 #define LUT_RN_TO_N 11
00082 #define LUT_RN_TO_R 6
00083 #define LUT_FS_TO_F 8
00084 #define LUT_FS_TO_S 11
00085 #define LUT_RS_TO_R 8
00086 #define LUT_RS_TO_S 12
00087 #define LUT_FE_TO_F 10
00088 #define LUT_FE_TO_E 12
00089 #define LUT_FW_TO_F 11
00090 #define LUT_FW_TO_W 12
00091 #define LUT_RE_TO_R 11
00092 #define LUT_RE_TO_E 14
00093 #define LUT_RW_TO_R 12
00094 #define LUT_RW_TO_W 14
00095 
00096   //vertex rec.values
00097 #define LUT_FNE_TO_E 16
00098 #define LUT_FNE_TO_N 18
00099 #define LUT_FNE_TO_NE 11
00100 #define LUT_FNE_TO_F 14
00101 #define LUT_FNE_TO_FN 8
00102 #define LUT_FNE_TO_FE 4
00103 
00104 #define LUT_FNW_TO_W 16
00105 #define LUT_FNW_TO_NW 13
00106 #define LUT_FNW_TO_N 19
00107 #define LUT_FNW_TO_FW 4
00108 #define LUT_FNW_TO_F 15
00109 #define LUT_FNW_TO_FN 9
00110 
00111 #define LUT_FSE_TO_S 19
00112 #define LUT_FSE_TO_SE 11
00113 #define LUT_FSE_TO_E 18
00114 #define LUT_FSE_TO_FS 8
00115 #define LUT_FSE_TO_F 16
00116 #define LUT_FSE_TO_FE 6
00117 
00118 #define LUT_FSW_TO_SW 13
00119 #define LUT_FSW_TO_S 20
00120 #define LUT_FSW_TO_W 18
00121 #define LUT_FSW_TO_FS 9
00122 #define LUT_FSW_TO_FW 6
00123 #define LUT_FSW_TO_F 17
00124 
00125 #define LUT_RNE_TO_R 17
00126 #define LUT_RNE_TO_RE 6
00127 #define LUT_RNE_TO_RN 11
00128 #define LUT_RNE_TO_E 20
00129 #define LUT_RNE_TO_N 22
00130 #define LUT_RNE_TO_NE 15
00131 
00132 #define LUT_RNW_TO_RW 6
00133 #define LUT_RNW_TO_R 18
00134 #define LUT_RNW_TO_RN 12
00135 #define LUT_RNW_TO_W 20
00136 #define LUT_RNW_TO_NW 17
00137 #define LUT_RNW_TO_N 23
00138 
00139 #define LUT_RSE_TO_RS 11
00140 #define LUT_RSE_TO_R 19
00141 #define LUT_RSE_TO_RE 8
00142 #define LUT_RSE_TO_S 23
00143 #define LUT_RSE_TO_SE 15
00144 #define LUT_RSE_TO_E 22
00145 
00146 #define LUT_RSW_TO_RS 12
00147 #define LUT_RSW_TO_RW 8
00148 #define LUT_RSW_TO_R 20
00149 #define LUT_RSW_TO_SW 17
00150 #define LUT_RSW_TO_S 24
00151 #define LUT_RSW_TO_W 22
00152 
00153 #define LUT_SELF 0
00154 
00155 #define LUT_NO_REC 127
00156   //#define LUT_ 0
00157 


octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Thu Feb 11 2016 23:50:59