Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
octomap::OcTreeLUT Class Reference

#include <OcTreeLUT.h>

List of all members.

Public Types

enum  NeighborDirection {
  W = 0, E, N, S,
  T, B, SW, NW,
  SE, NE, TW, BW,
  TE, BE, TN, TS,
  BN, BS, TNW, TSW,
  TNE, TSE, BNW, BSW,
  BNE, BSE
}

Public Member Functions

bool genNeighborKey (const OcTreeKey &node_key, const signed char &dir, OcTreeKey &neighbor_key) const
 OcTreeLUT (unsigned int _max_depth)
 ~OcTreeLUT ()

Protected Member Functions

void changeKey (const int &val, OcTreeKey &key, const unsigned short int &i) const
unsigned int genPos (const OcTreeKey &key, const int &i) const
void initLUT ()

Protected Attributes

unsigned int max_depth
signed char nf_multiple_values [26][4]
signed char nf_rec_values [8][26]
signed char nf_values [8][26]

Detailed Description

Implements a lookup table that allows to computer keys of neighbor cells directly, see: Samet 1989, "Implementing ray tracing with octrees and neighbor finding"

Definition at line 64 of file OcTreeLUT.h.


Member Enumeration Documentation

(N)orth: positive X (S)outh: negative X (W)est : positive Y (E)ast: negative Y (T)op : positive Z (B)ottom: negative Z

Enumerator:
W 
E 
N 
S 
T 
B 
SW 
NW 
SE 
NE 
TW 
BW 
TE 
BE 
TN 
TS 
BN 
BS 
TNW 
TSW 
TNE 
TSE 
BNW 
BSW 
BNE 
BSE 

Definition at line 74 of file OcTreeLUT.h.


Constructor & Destructor Documentation

octomap::OcTreeLUT::OcTreeLUT ( unsigned int  _max_depth)

Definition at line 42 of file OcTreeLUT.cpp.

Definition at line 47 of file OcTreeLUT.cpp.


Member Function Documentation

void octomap::OcTreeLUT::changeKey ( const int &  val,
OcTreeKey key,
const unsigned short int &  i 
) const [protected]

Definition at line 537 of file OcTreeLUT.cpp.

bool octomap::OcTreeLUT::genNeighborKey ( const OcTreeKey node_key,
const signed char &  dir,
OcTreeKey neighbor_key 
) const

Definition at line 583 of file OcTreeLUT.cpp.

unsigned int octomap::OcTreeLUT::genPos ( const OcTreeKey key,
const int &  i 
) const [protected]

Definition at line 525 of file OcTreeLUT.cpp.

void octomap::OcTreeLUT::initLUT ( ) [protected]

Definition at line 50 of file OcTreeLUT.cpp.


Member Data Documentation

unsigned int octomap::OcTreeLUT::max_depth [protected]

Definition at line 98 of file OcTreeLUT.h.

signed char octomap::OcTreeLUT::nf_multiple_values[26][4] [protected]

Definition at line 102 of file OcTreeLUT.h.

signed char octomap::OcTreeLUT::nf_rec_values[8][26] [protected]

Definition at line 101 of file OcTreeLUT.h.

signed char octomap::OcTreeLUT::nf_values[8][26] [protected]

Definition at line 100 of file OcTreeLUT.h.


The documentation for this class was generated from the following files:


octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Thu Jun 6 2019 17:31:45