octree_stamped_pa.h

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/******************************************************************************
*                                                                             *
* octree_stamped_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                                                             *
*                                                                             *
*******************************************************************************
*                                                                             *
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#ifndef OCTREE_STAMPED_PA_H
#define OCTREE_STAMPED_PA_H

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

// additional libraries
#include <octomap/octomap.h>
#include <octomap/OcTreeNode.h>
#include <octomap/OccupancyOcTreeBase.h>

// standard headers
#include <string>


//**************************[cOcTreeStampedPa]*********************************
class cOcTreeStampedPa : public cOcTreeStampedBasePa <
  octomap::OccupancyOcTreeBase, octomap::OcTreeNode> {

  public:

    typedef octomap::OcTreeNode                   NodeTypeBase;
    typedef cNodeStampedBasePa<NodeTypeBase>      NodeTypeFull;
    typedef cOcTreeStampedBasePa <
      octomap::OccupancyOcTreeBase, NodeTypeBase> TreeTypeBase;

    cOcTreeStampedPa(double resolution);

    // Default destructor
    virtual ~cOcTreeStampedPa(void);

    cOcTreeStampedPa* create() const;

    virtual std::string getTreeType() const;

  protected:
     class StaticMemberInitializer {
       public:
         StaticMemberInitializer(void);

         void ensureLinking(void);
     };

     static StaticMemberInitializer StaticMemberInit;
};

#endif //#ifndef OCTREE_STAMPED_PA_H