58 lines
2.3 KiB
C++
58 lines
2.3 KiB
C++
/*
|
|
* OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
|
|
* https://octomap.github.io/
|
|
*
|
|
* Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
|
|
* All rights reserved.
|
|
* License: New BSD
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions are met:
|
|
*
|
|
* * Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* * Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in the
|
|
* documentation and/or other materials provided with the distribution.
|
|
* * Neither the name of the University of Freiburg nor the names of its
|
|
* contributors may be used to endorse or promote products derived from
|
|
* this software without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
|
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
|
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
|
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
|
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
|
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
|
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*/
|
|
|
|
#ifndef OCTOMAP_OCTREE_BASE_H
|
|
#define OCTOMAP_OCTREE_BASE_H
|
|
|
|
|
|
#include "OcTreeBaseImpl.h"
|
|
#include "AbstractOcTree.h"
|
|
|
|
|
|
namespace octomap {
|
|
template <class NODE>
|
|
class OcTreeBase : public OcTreeBaseImpl<NODE,AbstractOcTree> {
|
|
public:
|
|
OcTreeBase(double res) : OcTreeBaseImpl<NODE,AbstractOcTree>(res) {}
|
|
|
|
/// virtual constructor: creates a new object of same type
|
|
/// (Covariant return type requires an up-to-date compiler)
|
|
OcTreeBase<NODE>* create() const {return new OcTreeBase<NODE>(this->resolution); }
|
|
std::string getTreeType() const {return "OcTreeBase";}
|
|
};
|
|
|
|
}
|
|
|
|
|
|
#endif
|