OcTreeDataNode.h
Go to the documentation of this file.
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
6  * All rights reserved.
7  * License: New BSD
8  *
9  * Redistribution and use in source and binary forms, with or without
10  * modification, are permitted provided that the following conditions are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above copyright
15  * notice, this list of conditions and the following disclaimer in the
16  * documentation and/or other materials provided with the distribution.
17  * * Neither the name of the University of Freiburg nor the names of its
18  * contributors may be used to endorse or promote products derived from
19  * this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
22  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
23  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
24  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
25  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
26  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
27  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
28  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
29  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
30  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
31  * POSSIBILITY OF SUCH DAMAGE.
32  */
33 
34 #ifndef OCTOMAP_OCTREE_DATA_NODE_H
35 #define OCTOMAP_OCTREE_DATA_NODE_H
36 
37 
38 #include "octomap_types.h"
39 #include "assert.h"
40 
41 namespace octomap {
42 
44 
45 
46  };
47 
48  // forward declaration for friend in OcTreeDataNode
49  template<typename NODE,typename I> class OcTreeBaseImpl;
50 
63  template<typename T> class OcTreeDataNode: public AbstractOcTreeNode {
64  template<typename NODE, typename I>
65  friend class OcTreeBaseImpl;
66 
67  public:
68 
70  OcTreeDataNode(T initVal);
71 
74  OcTreeDataNode(const OcTreeDataNode& rhs);
75 
78  ~OcTreeDataNode();
79 
82  void copyData(const OcTreeDataNode& from);
83 
85  bool operator==(const OcTreeDataNode& rhs) const;
86 
87 
88 
89 
90 
91  // -- children ----------------------------------
92 
96  OCTOMAP_DEPRECATED(bool childExists(unsigned int i) const);
97 
100  OCTOMAP_DEPRECATED(bool hasChildren() const);
101 
103  T getValue() const{return value;};
105  void setValue(T v) {value = v;};
106 
107  // file IO:
108 
110  std::istream& readData(std::istream &s);
111 
113  std::ostream& writeData(std::ostream &s) const;
114 
115 
117  typedef T DataType;
118 
119 
120  protected:
121  void allocChildren();
122 
128  T value;
129 
130  };
131 
132 
133 } // end namespace
134 
135 #include "octomap/OcTreeDataNode.hxx"
136 
137 #endif
T value
stored data (payload)
void setValue(T v)
sets value to be stored in the node
T DataType
Make the templated data type available from the outside.
AbstractOcTreeNode ** children
#define OCTOMAP_DEPRECATED(func)


octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Mon Feb 28 2022 22:58:06