OcTreeDataNode.h

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/*
 * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
 * https://octomap.github.io/
 *
 * 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
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 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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 */
 
#ifndef OCTOMAP_OCTREE_DATA_NODE_H
#define OCTOMAP_OCTREE_DATA_NODE_H
 
 
#include "octomap_types.h"
#include "assert.h"
 
namespace octomap {
 
  class AbstractOcTreeNode {
 
 
  };
  
  // forward declaration for friend in OcTreeDataNode
  template<typename NODE,typename I> class OcTreeBaseImpl;
 
  template<typename T> class OcTreeDataNode: public AbstractOcTreeNode {
    template<typename NODE, typename I>
    friend class OcTreeBaseImpl;
 
  public:
 
    OcTreeDataNode();
    OcTreeDataNode(T initVal);
    
    OcTreeDataNode(const OcTreeDataNode& rhs);
 
    ~OcTreeDataNode();
 
    void copyData(const OcTreeDataNode& from);
    
    bool operator==(const OcTreeDataNode& rhs) const;
    
    
    
 
 
    // -- children  ----------------------------------
 
    OCTOMAP_DEPRECATED(bool childExists(unsigned int i) const);
 
    OCTOMAP_DEPRECATED(bool hasChildren() const);
 
    T getValue() const{return value;}
    void setValue(T v) {value = v;}
 
    // file IO:
 
    std::istream& readData(std::istream &s);
 
    std::ostream& writeData(std::ostream &s) const;
 
 
    typedef T DataType;
 
 
  protected:
    void allocChildren();
 
    AbstractOcTreeNode** children;
    T value;
 
  };
 
 
} // end namespace
 
#include "octomap/OcTreeDataNode.hxx"
 
#endif