OcTreeBaseSE.h
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00001 /*
00002  * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
00003  * http://octomap.github.com/
00004  *
00005  * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
00006  * All rights reserved.
00007  * License: New BSD
00008  *
00009  * Redistribution and use in source and binary forms, with or without
00010  * modification, are permitted provided that the following conditions are met:
00011  *
00012  *     * Redistributions of source code must retain the above copyright
00013  *       notice, this list of conditions and the following disclaimer.
00014  *     * Redistributions in binary form must reproduce the above copyright
00015  *       notice, this list of conditions and the following disclaimer in the
00016  *       documentation and/or other materials provided with the distribution.
00017  *     * Neither the name of the University of Freiburg nor the names of its
00018  *       contributors may be used to endorse or promote products derived from
00019  *       this software without specific prior written permission.
00020  *
00021  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00022  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00023  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00024  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00025  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00026  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00027  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00028  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00029  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00030  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00031  * POSSIBILITY OF SUCH DAMAGE.
00032  */
00033 
00034 #ifndef OCTOMAP_OCTREE_BASE_SE_H
00035 #define OCTOMAP_OCTREE_BASE_SE_H
00036 
00037 
00038 #include "OcTreeBase.h"
00039 #include "OcTreeLUT.h"
00040 
00041 
00042 namespace octomap {
00043 
00044 
00045   template <class NODE>
00046     class OcTreeBaseSE: public OcTreeBase<NODE> {
00047 
00048   public:
00049 
00050     OcTreeBaseSE(double _resolution);
00051     virtual ~OcTreeBaseSE();
00052     
00063     bool computeRayKeys(const point3d& origin, const point3d& end, KeyRay& ray) const;
00064 
00065     NODE* getLUTNeighbor(const point3d& value, OcTreeLUT::NeighborDirection dir) const;
00066 
00067 
00068   protected:
00069 
00070     KeyRay keyray;
00071     OcTreeLUT* lut;
00072 
00073   };
00074 
00075 
00076 }
00077 
00078 #include "OcTreeBaseSE.hxx"
00079 
00080 #endif


octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Thu Aug 27 2015 14:13:14