octree.h

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#ifndef FCL_OCTREE_H
#define FCL_OCTREE_H

#include "fcl/config.h"

#if FCL_HAVE_OCTOMAP

#include <memory>
#include <array>

#include <octomap/octomap.h>
#include "fcl/math/bv/AABB.h"
#include "fcl/geometry/shape/box.h"
#include "fcl/narrowphase/collision_object.h"

namespace fcl
{

template <typename S>
class FCL_EXPORT OcTree : public CollisionGeometry<S>
{
private:
  std::shared_ptr<const octomap::OcTree> tree;

  S default_occupancy;

  S occupancy_threshold_log_odds;
  S free_threshold_log_odds;

public:

  typedef octomap::OcTreeNode OcTreeNode;

  OcTree(S resolution);

  OcTree(const std::shared_ptr<const octomap::OcTree>& tree_);

  void computeLocalAABB();

  AABB<S> getRootBV() const;

  OcTreeNode* getRoot() const;

  bool isNodeOccupied(const OcTreeNode* node) const;

  bool isNodeFree(const OcTreeNode* node) const;

  bool isNodeUncertain(const OcTreeNode* node) const;

  std::vector<std::array<S, 6> > toBoxes() const;

  S getOccupancyThres() const;

  S getFreeThres() const;

  S getDefaultOccupancy() const;

  void setCellDefaultOccupancy(S d);

  void setOccupancyThres(S d);

  void setFreeThres(S d);

  OcTreeNode* getNodeChild(OcTreeNode* node, unsigned int childIdx);

  const OcTreeNode* getNodeChild(const OcTreeNode* node, unsigned int childIdx) const;
      
  bool nodeChildExists(const OcTreeNode* node, unsigned int childIdx) const;

  bool nodeHasChildren(const OcTreeNode* node) const;

  OBJECT_TYPE getObjectType() const;

  NODE_TYPE getNodeType() const;

  const OcTreeNode* getNodeByQueryCellId(
      intptr_t id,
      const Vector3<S>& point,
      AABB<S>* aabb = nullptr,
      octomap::OcTreeKey* key = nullptr,
      unsigned int* depth = nullptr) const;

private:
  // Get the leaf_bbx_iterator pointing to the given cell given a point on or
  // in the cell and the query id.
  // Returns true if the cell was found, and false otherwise.
  bool getOctomapIterator(
      intptr_t id,
      const Vector3<S>& point,
      octomap::OcTree::leaf_bbx_iterator* out) const;
};

using OcTreef = OcTree<float>;
using OcTreed = OcTree<double>;

template <typename S>
FCL_EXPORT
void computeChildBV(const AABB<S>& root_bv, unsigned int i, AABB<S>& child_bv);

} // namespace fcl

#include "fcl/geometry/octree/octree-inl.h"

#endif // #if FCL_HAVE_OCTOMAP

#endif