OcTreeBaseImpl.h

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/*
 * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
 * http://octomap.github.com/
 *
 * 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:
 *
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 *       notice, this list of conditions and the following disclaimer.
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 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
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#ifndef OCTOMAP_OCTREE_BASE_IMPL_H
#define OCTOMAP_OCTREE_BASE_IMPL_H


#include <list>
#include <limits>
#include <iterator>
#include <stack>
#include <bitset>

#include "octomap_types.h"
#include "OcTreeKey.h"
#include "ScanGraph.h"


namespace octomap {
  
  // forward declaration for NODE children array
  class AbstractOcTreeNode;


  template <class NODE,class INTERFACE>
  class OcTreeBaseImpl : public INTERFACE {

  public:
    typedef NODE NodeType;

    // the actual iterator implementation is included here
    // as a member from this file
    #include <octomap/OcTreeIterator.hxx>
    
    OcTreeBaseImpl(double resolution);
    virtual ~OcTreeBaseImpl();

    OcTreeBaseImpl(const OcTreeBaseImpl<NODE,INTERFACE>& rhs);


    void swapContent(OcTreeBaseImpl<NODE,INTERFACE>& rhs);

    bool operator== (const OcTreeBaseImpl<NODE,INTERFACE>& rhs) const;

    std::string getTreeType() const {return "OcTreeBaseImpl";}

    void setResolution(double r);
    inline double getResolution() const { return resolution; }

    inline unsigned int getTreeDepth () const { return tree_depth; }

    inline double getNodeSize(unsigned depth) const {assert(depth <= tree_depth); return sizeLookupTable[depth];}
    
    void clearKeyRays(){
      keyrays.clear();
    }
    
    // -- Tree structure operations formerly contained in the nodes ---
   
    NODE* createNodeChild(NODE* node, unsigned int childIdx);
    
    void deleteNodeChild(NODE* node, unsigned int childIdx);
    
    NODE* getNodeChild(NODE* node, unsigned int childIdx) const;
    
    const NODE* getNodeChild(const NODE* node, unsigned int childIdx) const;
    
    virtual bool isNodeCollapsible(const NODE* node) const;
    
    bool nodeChildExists(const NODE* node, unsigned int childIdx) const;
    
    bool nodeHasChildren(const NODE* node) const;
    
    virtual void expandNode(NODE* node);
    
    virtual bool pruneNode(NODE* node);
    
    
    // --------

    inline NODE* getRoot() const { return root; }

    NODE* search(double x, double y, double z, unsigned int depth = 0) const;

    NODE* search(const point3d& value, unsigned int depth = 0) const;

    NODE* search(const OcTreeKey& key, unsigned int depth = 0) const;

    bool deleteNode(double x, double y, double z, unsigned int depth = 0);

    bool deleteNode(const point3d& value, unsigned int depth = 0);

    bool deleteNode(const OcTreeKey& key, unsigned int depth = 0);

    void clear();

    virtual void prune();

    virtual void expand();

    // -- statistics  ----------------------

    virtual inline size_t size() const { return tree_size; }

    virtual size_t memoryUsage() const;

    virtual inline size_t memoryUsageNode() const {return sizeof(NODE); };

    unsigned long long memoryFullGrid() const;

    double volume();

    virtual void getMetricSize(double& x, double& y, double& z);
    virtual void getMetricSize(double& x, double& y, double& z) const;
    virtual void getMetricMin(double& x, double& y, double& z);
    void getMetricMin(double& x, double& y, double& z) const;
    virtual void getMetricMax(double& x, double& y, double& z);
    void getMetricMax(double& x, double& y, double& z) const;

    size_t calcNumNodes() const;

    size_t getNumLeafNodes() const;


    // -- access tree nodes  ------------------

    void getUnknownLeafCenters(point3d_list& node_centers, point3d pmin, point3d pmax, unsigned int depth = 0) const;


    // -- raytracing  -----------------------

    bool computeRayKeys(const point3d& origin, const point3d& end, KeyRay& ray) const;


    bool computeRay(const point3d& origin, const point3d& end, std::vector<point3d>& ray);


    // file IO

    std::istream& readData(std::istream &s);

    std::ostream& writeData(std::ostream &s) const;

    typedef leaf_iterator iterator;

    iterator begin(unsigned char maxDepth=0) const {return iterator(this, maxDepth);};
    const iterator end() const {return leaf_iterator_end;}; // TODO: RVE?

    leaf_iterator begin_leafs(unsigned char maxDepth=0) const {return leaf_iterator(this, maxDepth);};
    const leaf_iterator end_leafs() const {return leaf_iterator_end;}

    leaf_bbx_iterator begin_leafs_bbx(const OcTreeKey& min, const OcTreeKey& max, unsigned char maxDepth=0) const {
      return leaf_bbx_iterator(this, min, max, maxDepth);
    }
    leaf_bbx_iterator begin_leafs_bbx(const point3d& min, const point3d& max, unsigned char maxDepth=0) const {
      return leaf_bbx_iterator(this, min, max, maxDepth);
    }
    const leaf_bbx_iterator end_leafs_bbx() const {return leaf_iterator_bbx_end;}

    tree_iterator begin_tree(unsigned char maxDepth=0) const {return tree_iterator(this, maxDepth);}
    const tree_iterator end_tree() const {return tree_iterator_end;}

    //
    // Key / coordinate conversion functions
    //

    inline key_type coordToKey(double coordinate) const{
      return ((int) floor(resolution_factor * coordinate)) + tree_max_val;
    }

    key_type coordToKey(double coordinate, unsigned depth) const;


    inline OcTreeKey coordToKey(const point3d& coord) const{
      return OcTreeKey(coordToKey(coord(0)), coordToKey(coord(1)), coordToKey(coord(2)));
    }

    inline OcTreeKey coordToKey(double x, double y, double z) const{
      return OcTreeKey(coordToKey(x), coordToKey(y), coordToKey(z));
    }

    inline OcTreeKey coordToKey(const point3d& coord, unsigned depth) const{
      if (depth == tree_depth)
        return coordToKey(coord);
      else
        return OcTreeKey(coordToKey(coord(0), depth), coordToKey(coord(1), depth), coordToKey(coord(2), depth));
    }

    inline OcTreeKey coordToKey(double x, double y, double z, unsigned depth) const{
      if (depth == tree_depth)
        return coordToKey(x,y,z);
      else
        return OcTreeKey(coordToKey(x, depth), coordToKey(y, depth), coordToKey(z, depth));
    }

    inline OcTreeKey adjustKeyAtDepth(const OcTreeKey& key, unsigned int depth) const{
      if (depth == tree_depth)
        return key;

      assert(depth <= tree_depth);
      return OcTreeKey(adjustKeyAtDepth(key[0], depth), adjustKeyAtDepth(key[1], depth), adjustKeyAtDepth(key[2], depth));
    }

    key_type adjustKeyAtDepth(key_type key, unsigned int depth) const;

    bool coordToKeyChecked(const point3d& coord, OcTreeKey& key) const;

    bool coordToKeyChecked(const point3d& coord, unsigned depth, OcTreeKey& key) const;

    bool coordToKeyChecked(double x, double y, double z, OcTreeKey& key) const;

    bool coordToKeyChecked(double x, double y, double z, unsigned depth, OcTreeKey& key) const;

    bool coordToKeyChecked(double coordinate, key_type& key) const;

    bool coordToKeyChecked(double coordinate, unsigned depth, key_type& key) const;

    double keyToCoord(key_type key, unsigned depth) const;

    inline double keyToCoord(key_type key) const{
      return (double( (int) key - (int) this->tree_max_val ) +0.5) * this->resolution;
    }

    inline point3d keyToCoord(const OcTreeKey& key) const{
      return point3d(float(keyToCoord(key[0])), float(keyToCoord(key[1])), float(keyToCoord(key[2])));
    }

    inline point3d keyToCoord(const OcTreeKey& key, unsigned depth) const{
      return point3d(float(keyToCoord(key[0], depth)), float(keyToCoord(key[1], depth)), float(keyToCoord(key[2], depth)));
    }

 protected:
    OcTreeBaseImpl(double resolution, unsigned int tree_depth, unsigned int tree_max_val);

    void init();

    void calcMinMax();

    void calcNumNodesRecurs(NODE* node, size_t& num_nodes) const;
    
    std::istream& readNodesRecurs(NODE*, std::istream &s);
    
    std::ostream& writeNodesRecurs(const NODE*, std::ostream &s) const;
    
    void deleteNodeRecurs(NODE* node);

    bool deleteNodeRecurs(NODE* node, unsigned int depth, unsigned int max_depth, const OcTreeKey& key);

    void pruneRecurs(NODE* node, unsigned int depth, unsigned int max_depth, unsigned int& num_pruned);

    void expandRecurs(NODE* node, unsigned int depth, unsigned int max_depth);
    
    size_t getNumLeafNodesRecurs(const NODE* parent) const;

  private:
    OcTreeBaseImpl<NODE,INTERFACE>& operator=(const OcTreeBaseImpl<NODE,INTERFACE>&);

  protected:  
    void allocNodeChildren(NODE* node);

    NODE* root; 

    // constants of the tree
    const unsigned int tree_depth; 
    const unsigned int tree_max_val;
    double resolution;  
    double resolution_factor; 
  
    size_t tree_size; 
    bool size_changed;

    point3d tree_center;  // coordinate offset of tree

    double max_value[3]; 
    double min_value[3]; 
    std::vector<double> sizeLookupTable;

    std::vector<KeyRay> keyrays;

    const leaf_iterator leaf_iterator_end;
    const leaf_bbx_iterator leaf_iterator_bbx_end;
    const tree_iterator tree_iterator_end;


  };

}

#include <octomap/OcTreeBaseImpl.hxx>

#endif