00001 /****************************************************************************** 00002 * \file 00003 * 00004 * $Id:$ 00005 * 00006 * Copyright (C) Brno University of Technology (BUT) 00007 * 00008 * This file is part of software developed by dcgm-robotics@FIT group. 00009 * 00010 * Author: Jan Gorig (xgorig01@stud.fit.vutbr.cz) 00011 * Supervised by: Michal Spanel (spanel@fit.vutbr.cz) 00012 * Date: 12/04/2012 00013 * 00014 * This file is free software: you can redistribute it and/or modify 00015 * it under the terms of the GNU Lesser General Public License as published by 00016 * the Free Software Foundation, either version 3 of the License, or 00017 * (at your option) any later version. 00018 * 00019 * This file is distributed in the hope that it will be useful, 00020 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00021 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00022 * GNU Lesser General Public License for more details. 00023 * 00024 * You should have received a copy of the GNU Lesser General Public License 00025 * along with this file. If not, see <http://www.gnu.org/licenses/>. 00026 */ 00027 00028 #pragma once 00029 #ifndef OBJTREE_NODE_H 00030 #define OBJTREE_NODE_H 00031 00032 #include <cstdio> 00033 #include <list> 00034 #include <srs_env_model/but_server/objtree/object.h> 00035 00036 namespace objtree 00037 { 00038 00043 class Node 00044 { 00045 public: 00046 static const unsigned int CHILDREN = 8; 00047 static const unsigned int NEIGHBORS = 26; 00048 00049 private: 00050 unsigned char m_place; 00051 Node* m_parent; 00052 00053 /* 00054 * Neighbors ids (from top view) 00055 * Top part: Middle part: Bottom part: 00056 * 6 7 8 14 15 16 23 24 25 00057 * 3 4 5 12 13 20 21 22 00058 * 0 1 2 9 10 11 17 18 19 00059 */ 00060 Node* m_neighbors[NEIGHBORS]; 00061 00062 /* 00063 * Node children ids (from top view) 00064 * Top part: Bottom part: 00065 * 2 3 6 7 00066 * 0 1 4 5 00067 * 00068 */ 00069 Node* m_children[CHILDREN]; 00070 std::list<Object*> m_objects; 00071 00072 static unsigned char reverseNeighborId(unsigned char dir); 00073 Node* parentNeighborChild(unsigned char parentNeighbor, unsigned char child); 00074 Node* computeNeighbor(unsigned char dir); 00075 00076 public: 00077 Node(unsigned char place = 0, Node *parent = NULL); 00078 ~Node(); 00079 Node* parent(); 00080 Node* child(unsigned char place, bool createNew = false); 00081 Node* neighbor(unsigned char dir); 00082 const std::list<Object*>& objects() const; 00083 void add(Object* object); 00084 void removeObject(Object *object); 00085 void deleteIfEmpty(); 00086 00087 static Box& getChildBox(unsigned char place, Box &childBox, const Box &parentBox); 00088 }; 00089 00090 } 00091 00092 #endif // OBJTREE_NODE_H