outofcore_breadth_first_iterator.h

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 * $Id: outofcore_depth_first_iterator.h 7938 2012-11-14 06:27:39Z jrosen $
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#ifndef PCL_OUTOFCORE_BREADTH_FIRST_ITERATOR_H_
#define PCL_OUTOFCORE_BREADTH_FIRST_ITERATOR_H_

#include <pcl/outofcore/outofcore_iterator_base.h>
namespace pcl
{
  namespace outofcore
  {

    template<typename PointT=pcl::PointXYZ, typename ContainerT=OutofcoreOctreeDiskContainer<pcl::PointXYZ> >
    class OutofcoreBreadthFirstIterator : public OutofcoreIteratorBase<PointT, ContainerT>
    {
      public:
        typedef typename pcl::outofcore::OutofcoreOctreeBase<ContainerT, PointT> OctreeDisk;
        typedef typename pcl::outofcore::OutofcoreOctreeBaseNode<ContainerT, PointT> OctreeDiskNode;

        typedef typename pcl::outofcore::OutofcoreOctreeBaseNode<ContainerT, PointT> LeafNode;
        typedef typename pcl::outofcore::OutofcoreOctreeBaseNode<ContainerT, PointT> BranchNode;


        explicit
        OutofcoreBreadthFirstIterator (OctreeDisk& octree_arg);

        virtual
        ~OutofcoreBreadthFirstIterator ();
      
        OutofcoreBreadthFirstIterator&
        operator++ ();
      
        inline OutofcoreBreadthFirstIterator
        operator++ (int)
        {
          OutofcoreBreadthFirstIterator _Tmp = *this;
          ++*this;
          return (_Tmp);
        }

        virtual inline void
        reset ()
        {
          OutofcoreIteratorBase<PointT, ContainerT>::reset();

          // Clear the FIFO queue and add the root as the first node
          FIFO_.clear ();
          FIFO_.push_back(this->currentNode_);

          // Don't skip children
          skip_child_voxels_ = false;
        }
      
        void
        skipChildVoxels ()
        {
          skip_child_voxels_ = true;
        }
      
      protected:
        std::deque<OctreeDiskNode*> FIFO_;
        bool skip_child_voxels_;
    };
  }
}

#endif //PCL_OUTOFCORE_BREADTH_FIRST_ITERATOR_H_