138 lines
4.8 KiB
C++
138 lines
4.8 KiB
C++
/*
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* OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
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* https://octomap.github.io/
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*
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* Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
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* All rights reserved.
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* License: New BSD
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the University of Freiburg nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef OCTOMAP_OCTREE_DATA_NODE_H
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#define OCTOMAP_OCTREE_DATA_NODE_H
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#include "octomap_types.h"
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#include "assert.h"
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namespace octomap {
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class AbstractOcTreeNode {
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};
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// forward declaration for friend in OcTreeDataNode
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template<typename NODE,typename I> class OcTreeBaseImpl;
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/**
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* Basic node in the OcTree that can hold arbitrary data of type T in value.
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* This is the base class for nodes used in an OcTree. The used implementation
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* for occupancy mapping is in OcTreeNode.#
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* \tparam T data to be stored in the node (e.g. a float for probabilities)
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*
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* Note: If you derive a class (directly or indirectly) from OcTreeDataNode,
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* you have to implement (at least) the following functions to avoid slicing
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* errors and memory-related bugs:
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* createChild(), getChild(), getChild() const, expandNode()
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* See ColorOcTreeNode in ColorOcTree.h for an example.
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*/
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template<typename T> class OcTreeDataNode: public AbstractOcTreeNode {
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template<typename NODE, typename I>
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friend class OcTreeBaseImpl;
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public:
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OcTreeDataNode();
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OcTreeDataNode(T initVal);
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/// Copy constructor, performs a recursive deep-copy of all children
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/// including node data in "value"
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OcTreeDataNode(const OcTreeDataNode& rhs);
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/// Delete only own members.
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/// OcTree maintains tree structure and must have deleted children already
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~OcTreeDataNode();
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/// Copy the payload (data in "value") from rhs into this node
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/// Opposed to copy ctor, this does not clone the children as well
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void copyData(const OcTreeDataNode& from);
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/// Equals operator, compares if the stored value is identical
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bool operator==(const OcTreeDataNode& rhs) const;
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// -- children ----------------------------------
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/// Test whether the i-th child exists.
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/// @deprecated Replaced by tree->nodeChildExists(...)
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/// \return true if the i-th child exists
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OCTOMAP_DEPRECATED(bool childExists(unsigned int i) const);
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/// @deprecated Replaced by tree->nodeHasChildren(...)
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/// \return true if the node has at least one child
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OCTOMAP_DEPRECATED(bool hasChildren() const);
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/// @return value stored in the node
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T getValue() const{return value;}
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/// sets value to be stored in the node
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void setValue(T v) {value = v;}
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// file IO:
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/// Read node payload (data only) from binary stream
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std::istream& readData(std::istream &s);
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/// Write node payload (data only) to binary stream
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std::ostream& writeData(std::ostream &s) const;
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/// Make the templated data type available from the outside
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typedef T DataType;
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protected:
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void allocChildren();
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/// pointer to array of children, may be NULL
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/// @note The tree class manages this pointer, the array, and the memory for it!
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/// The children of a node are always enforced to be the same type as the node
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AbstractOcTreeNode** children;
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/// stored data (payload)
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T value;
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};
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} // end namespace
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#include "octomap/OcTreeDataNode.hxx"
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#endif
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