OcTreeLUTdefs.h
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1 /*
2  * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
3  * http://octomap.github.com/
4  *
5  * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
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7  * License: New BSD
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19  * this software without specific prior written permission.
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33 
34 // TODO: convert defines to ENUMs
35 
36 // Lookup table for neighbor search
37 
38  //front
39 #define LUT_N 0
40 #define LUT_S 1
41 #define LUT_E 2
42 #define LUT_W 3
43 #define LUT_F 4
44 #define LUT_R 5
45 
46  //edge
47 #define LUT_NW 6
48 #define LUT_NE 7
49 #define LUT_SW 8
50 #define LUT_SE 9
51 #define LUT_FN 10
52 #define LUT_RN 11
53 #define LUT_FS 12
54 #define LUT_RS 13
55 #define LUT_FE 14
56 #define LUT_FW 15
57 #define LUT_RE 16
58 #define LUT_RW 17
59 
60  //vertex
61 #define LUT_FNE 18
62 #define LUT_FNW 19
63 #define LUT_FSE 20
64 #define LUT_FSW 21
65 #define LUT_RNE 22
66 #define LUT_RNW 23
67 #define LUT_RSE 24
68 #define LUT_RSW 25
69 
70  //edge rec.-values
71 #define LUT_NW_TO_W 3
72 #define LUT_NW_TO_N 6
73 #define LUT_NE_TO_E 5
74 #define LUT_NE_TO_N 7
75 #define LUT_SW_TO_S 7
76 #define LUT_SW_TO_W 5
77 #define LUT_SE_TO_E 7
78 #define LUT_SE_TO_S 8
79 #define LUT_FN_TO_F 6
80 #define LUT_FN_TO_N 10
81 #define LUT_RN_TO_N 11
82 #define LUT_RN_TO_R 6
83 #define LUT_FS_TO_F 8
84 #define LUT_FS_TO_S 11
85 #define LUT_RS_TO_R 8
86 #define LUT_RS_TO_S 12
87 #define LUT_FE_TO_F 10
88 #define LUT_FE_TO_E 12
89 #define LUT_FW_TO_F 11
90 #define LUT_FW_TO_W 12
91 #define LUT_RE_TO_R 11
92 #define LUT_RE_TO_E 14
93 #define LUT_RW_TO_R 12
94 #define LUT_RW_TO_W 14
95 
96  //vertex rec.values
97 #define LUT_FNE_TO_E 16
98 #define LUT_FNE_TO_N 18
99 #define LUT_FNE_TO_NE 11
100 #define LUT_FNE_TO_F 14
101 #define LUT_FNE_TO_FN 8
102 #define LUT_FNE_TO_FE 4
103 
104 #define LUT_FNW_TO_W 16
105 #define LUT_FNW_TO_NW 13
106 #define LUT_FNW_TO_N 19
107 #define LUT_FNW_TO_FW 4
108 #define LUT_FNW_TO_F 15
109 #define LUT_FNW_TO_FN 9
110 
111 #define LUT_FSE_TO_S 19
112 #define LUT_FSE_TO_SE 11
113 #define LUT_FSE_TO_E 18
114 #define LUT_FSE_TO_FS 8
115 #define LUT_FSE_TO_F 16
116 #define LUT_FSE_TO_FE 6
117 
118 #define LUT_FSW_TO_SW 13
119 #define LUT_FSW_TO_S 20
120 #define LUT_FSW_TO_W 18
121 #define LUT_FSW_TO_FS 9
122 #define LUT_FSW_TO_FW 6
123 #define LUT_FSW_TO_F 17
124 
125 #define LUT_RNE_TO_R 17
126 #define LUT_RNE_TO_RE 6
127 #define LUT_RNE_TO_RN 11
128 #define LUT_RNE_TO_E 20
129 #define LUT_RNE_TO_N 22
130 #define LUT_RNE_TO_NE 15
131 
132 #define LUT_RNW_TO_RW 6
133 #define LUT_RNW_TO_R 18
134 #define LUT_RNW_TO_RN 12
135 #define LUT_RNW_TO_W 20
136 #define LUT_RNW_TO_NW 17
137 #define LUT_RNW_TO_N 23
138 
139 #define LUT_RSE_TO_RS 11
140 #define LUT_RSE_TO_R 19
141 #define LUT_RSE_TO_RE 8
142 #define LUT_RSE_TO_S 23
143 #define LUT_RSE_TO_SE 15
144 #define LUT_RSE_TO_E 22
145 
146 #define LUT_RSW_TO_RS 12
147 #define LUT_RSW_TO_RW 8
148 #define LUT_RSW_TO_R 20
149 #define LUT_RSW_TO_SW 17
150 #define LUT_RSW_TO_S 24
151 #define LUT_RSW_TO_W 22
152 
153 #define LUT_SELF 0
154 
155 #define LUT_NO_REC 127
156  //#define LUT_ 0
157 


octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Mon Jun 10 2019 14:00:13