test_lut.cpp
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00001 
00002 #include <stdio.h>
00003 #include <octomap/octomap.h>
00004 #include <octomap/OcTreeLUT.h>
00005 
00006 using namespace std;
00007 using namespace octomap;
00008 using namespace octomath;
00009 
00010 
00011 
00012 int main(int argc, char** argv) {
00013 
00014   OcTreeLUT lut(16);
00015 
00016   // OcTreeKey start_key (32768, 32768, 32768);
00017   OcTreeKey start_key (100, 100, 100);
00018   OcTreeKey neighbor_key;
00019 
00020   cout << endl << "center key:" << endl;
00021   cout << "[" << start_key.k[0] << "," << start_key.k[1] << "," << start_key.k[2] << "]" << endl;
00022 
00023   cout << endl << "face neighbor keys:" << endl;
00024   
00025   lut.genNeighborKey(start_key, OcTreeLUT::N, neighbor_key);
00026   cout << "N -> [" << neighbor_key.k[0] << "," << neighbor_key.k[1] << "," << neighbor_key.k[2] << "]" << endl;
00027 
00028   lut.genNeighborKey(start_key, OcTreeLUT::S, neighbor_key);
00029   cout << "S -> [" << neighbor_key.k[0] << "," << neighbor_key.k[1] << "," << neighbor_key.k[2] << "]" << endl;
00030 
00031   lut.genNeighborKey(start_key, OcTreeLUT::W, neighbor_key);
00032   cout << "W -> [" << neighbor_key.k[0] << "," << neighbor_key.k[1] << "," << neighbor_key.k[2] << "]" << endl;
00033 
00034   lut.genNeighborKey(start_key, OcTreeLUT::E, neighbor_key);
00035   cout << "E -> [" << neighbor_key.k[0] << "," << neighbor_key.k[1] << "," << neighbor_key.k[2] << "]" << endl;
00036 
00037   lut.genNeighborKey(start_key, OcTreeLUT::T, neighbor_key);
00038   cout << "T -> [" << neighbor_key.k[0] << "," << neighbor_key.k[1] << "," << neighbor_key.k[2] << "]" << endl;
00039 
00040   lut.genNeighborKey(start_key, OcTreeLUT::B, neighbor_key);
00041   cout << "B -> [" << neighbor_key.k[0] << "," << neighbor_key.k[1] << "," << neighbor_key.k[2] << "]" << endl;
00042 
00043   cout << endl << "some edge neighbor keys:" << endl;
00044 
00045   lut.genNeighborKey(start_key, OcTreeLUT::SE, neighbor_key);
00046   cout << "SE -> [" << neighbor_key.k[0] << "," << neighbor_key.k[1] << "," << neighbor_key.k[2] << "]" << endl;
00047 
00048   lut.genNeighborKey(start_key, OcTreeLUT::SW, neighbor_key);
00049   cout << "SW -> [" << neighbor_key.k[0] << "," << neighbor_key.k[1] << "," << neighbor_key.k[2] << "]" << endl;
00050 
00051   lut.genNeighborKey(start_key, OcTreeLUT::BS, neighbor_key);
00052   cout << "BS -> [" << neighbor_key.k[0] << "," << neighbor_key.k[1] << "," << neighbor_key.k[2] << "]" << endl;
00053 
00054   cout << endl << "some vertex neighbor keys:" << endl;
00055 
00056   lut.genNeighborKey(start_key, OcTreeLUT::TNW, neighbor_key);
00057   cout << "TNW -> [" << neighbor_key.k[0] << "," << neighbor_key.k[1] << "," << neighbor_key.k[2] << "]" << endl;
00058 
00059   lut.genNeighborKey(start_key, OcTreeLUT::BNW, neighbor_key);
00060   cout << "BNW -> [" << neighbor_key.k[0] << "," << neighbor_key.k[1] << "," << neighbor_key.k[2] << "]" << endl;
00061 
00062   lut.genNeighborKey(start_key, OcTreeLUT::BSE, neighbor_key);
00063   cout << "BSE -> [" << neighbor_key.k[0] << "," << neighbor_key.k[1] << "," << neighbor_key.k[2] << "]" << endl;
00064 
00065 
00066   return 0;
00067 }


octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Thu Feb 11 2016 23:50:59