node_stamped_base_pa.h

Go to the documentation of this file.

/******************************************************************************
*                                                                             *
* node_stamped_base_pa.h                                                      *
* ======================                                                      *
*                                                                             *
*******************************************************************************
*                                                                             *
* Repository:                                                                 *
*   https://github.com/TUC-ProAut/ros_octomap                                 *
*                                                                             *
* Chair of Automation Technology, Technische Universität Chemnitz             *
*   https://www.tu-chemnitz.de/etit/proaut                                    *
*                                                                             *
* Author:                                                                     *
*   Peter Weissig                                                             *
*                                                                             *
*******************************************************************************
*                                                                             *
* Original Source Code                                                        *
*                                                                             *
*     Repository:                                                             *
*       https://github.com/OctoMap/octomap                                    *
*                                                                             *
*     Files:                                                                  *
*       octomap/include/octomap/OcTreeStamped.cpp                             *
*       octomap/include/octomap/OcTreeNode.cpp                                *
*                                                                             *
*     University of Freiburg                                                  *
*                                                                             *
*     Authors:                                                                *
*       Kai M. Wurm, Armin Hornung                                            *
*                                                                             *
*******************************************************************************
*                                                                             *
* New BSD License                                                             *
*                                                                             *
* Copyright (c) 2015-2021 TU Chemnitz                                         *
* All rights reserved.                                                        *
*                                                                             *
* 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 copyright holder 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 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR  *
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR           *
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,       *
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,         *
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; *
* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,    *
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR     *
* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF      *
* ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                  *
*                                                                             *
******************************************************************************/

#ifndef NODE_STAMPED_BASE_PA_H
#define NODE_STAMPED_BASE_PA_H

// local headers
#include "octomap_pa/time_pa.h"

// standard headers
#include <stdint.h>
#include <iostream>
#include <cstddef>

//**************************[cNodeStampedBasePa]*******************************
template <typename NODE>
class cNodeStampedBasePa : public NODE {

  public:
    typedef NODE                     NodeTypeBase;
    typedef cNodeStampedBasePa<NODE> NodeTypeFull;

    cNodeStampedBasePa();
    cNodeStampedBasePa(const cNodeStampedBasePa<NODE>& other);
    cNodeStampedBasePa(const cTimePa &timestamp);
    virtual ~cNodeStampedBasePa();

    bool operator==(const cNodeStampedBasePa<NODE>& other) const;

    void copyData(const cNodeStampedBasePa<NODE>& from);

    // streaming (saving and loading)
    virtual std::istream& readData(std::istream &s);
    virtual std::ostream& writeData(std::ostream &s) const;

    // timestamp
    inline const cTimePa& getTimestamp() const;
    inline void setTimestamp(const cTimePa &timestamp);
    inline void updateTimestamp(const cTimePa &timestamp);

    // update occupancy and timesteps of inner nodes
    inline void updateTimestampChildren();
    inline void updateOccupancyChildren();

  protected:
    cTimePa timestamp;
};

#include "octomap_pa/node_stamped_base_pa.hxx"

#endif //#ifndef NODE_STAMPED_BASE_PA_H