octomap::OcTreeLUT Class Reference

#include <OcTreeLUT.h>

Public Types
enum	NeighborDirection {   W = 0, E, N, S,   T, B, SW, NW,   SE, NE, TW, BW,   TE, BE, TN, TS,   BN, BS, TNW, TSW,   TNE, TSE, BNW, BSW,   BNE, BSE }

Public Member Functions
bool	genNeighborKey (const OcTreeKey &node_key, const signed char &dir, OcTreeKey &neighbor_key) const
	OcTreeLUT (unsigned int _max_depth)
	~OcTreeLUT ()

Protected Member Functions
void	changeKey (const int &val, OcTreeKey &key, const unsigned short int &i) const
unsigned int	genPos (const OcTreeKey &key, const int &i) const
void	initLUT ()

Protected Attributes
unsigned int	max_depth
signed char	nf_multiple_values [26][4]
signed char	nf_rec_values [8][26]
signed char	nf_values [8][26]

Detailed Description

Implements a lookup table that allows to computer keys of neighbor cells directly, see: Samet 1989, "Implementing ray tracing with octrees and neighbor finding"

Definition at line 64 of file OcTreeLUT.h.

Member Enumeration Documentation

enum octomap::OcTreeLUT::NeighborDirection

(N)orth: positive X (S)outh: negative X (W)est : positive Y (E)ast: negative Y (T)op : positive Z (B)ottom: negative Z

Enumerator
W
E
N
S
T
B
SW
NW
SE
NE
TW
BW
TE
BE
TN
TS
BN
BS
TNW
TSW
TNE
TSE
BNW
BSW
BNE
BSE

Definition at line 74 of file OcTreeLUT.h.

Constructor & Destructor Documentation

octomap::OcTreeLUT::OcTreeLUT

(

unsigned int

_max_depth

)

Definition at line 42 of file OcTreeLUT.cpp.

octomap::OcTreeLUT::~OcTreeLUT

(

)

Definition at line 47 of file OcTreeLUT.cpp.

Member Function Documentation

void octomap::OcTreeLUT::changeKey ( const int &  val, OcTreeKey &  key, const unsigned short int &  i  ) const

protected

Definition at line 537 of file OcTreeLUT.cpp.

bool octomap::OcTreeLUT::genNeighborKey	(	const OcTreeKey &	node_key,
		const signed char &	dir,
		OcTreeKey &	neighbor_key
	)		const

Definition at line 583 of file OcTreeLUT.cpp.

unsigned int octomap::OcTreeLUT::genPos ( const OcTreeKey &  key, const int &  i  ) const

protected

Definition at line 525 of file OcTreeLUT.cpp.

void octomap::OcTreeLUT::initLUT ( )

protected

Definition at line 50 of file OcTreeLUT.cpp.

Member Data Documentation

unsigned int octomap::OcTreeLUT::max_depth

protected

Definition at line 98 of file OcTreeLUT.h.

signed char octomap::OcTreeLUT::nf_multiple_values[26][4]

protected

Definition at line 102 of file OcTreeLUT.h.

signed char octomap::OcTreeLUT::nf_rec_values[8][26]

protected

Definition at line 101 of file OcTreeLUT.h.

signed char octomap::OcTreeLUT::nf_values[8][26]

protected

Definition at line 100 of file OcTreeLUT.h.

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The documentation for this class was generated from the following files:

• OcTreeLUT.h
• OcTreeLUT.cpp