spatial_index.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010, AASS Research Center, Orebro University.
 *  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 AASS Research Center 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 OWNER 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 SPATIAL_INDEX_HH
#define SPATIAL_INDEX_HH

#include <vector>
#include <iostream>

#include <ndt_map/ndt_cell.h>

namespace lslgeneric
{

class SpatialIndex
{
protected:

public:
    typedef std::vector<NDTCell*> CellPtrVector;
    typedef typename CellPtrVector::iterator CellVectorItr;

    virtual ~SpatialIndex()
    {
    }

    virtual NDTCell* getCellForPoint(const pcl::PointXYZ &point) = 0;
    virtual NDTCell* addPoint(const pcl::PointXYZ &point) = 0;

    virtual CellVectorItr begin() = 0;
    virtual CellVectorItr end() = 0;
    // should be 'pure'?
    virtual int size() const
    {
        return -1;
    }

    virtual SpatialIndex* clone() const = 0;
    virtual SpatialIndex* copy() const = 0;

    virtual void setCenter(const double &cx, const double &cy, const double &cz) {}
    virtual void setSize(const double &sx, const double &sy, const double &sz) {}

    virtual void getNeighbors(const pcl::PointXYZ &point, const double &radius, std::vector<NDTCell*> &cells)= 0;

    virtual void setCellType(NDTCell *type) = 0;

    virtual int loadFromJFF(FILE * jffin) const
    {
        std::cerr << "Calling from SpatialIndex.h\n";
        return -1;
    }
};

} //end namespace


#endif