141 lines
4.4 KiB
C++
141 lines
4.4 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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namespace octomap {
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template <typename T>
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OcTreeDataNode<T>::OcTreeDataNode()
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: children(NULL)
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{
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}
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template <typename T>
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OcTreeDataNode<T>::OcTreeDataNode(T initVal)
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: children(NULL), value(initVal)
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{
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}
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template <typename T>
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OcTreeDataNode<T>::OcTreeDataNode(const OcTreeDataNode<T>& rhs)
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: children(NULL), value(rhs.value)
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{
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if (rhs.children != NULL){
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allocChildren();
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for (unsigned i = 0; i<8; ++i){
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if (rhs.children[i] != NULL)
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children[i] = new OcTreeDataNode<T>(*(static_cast<OcTreeDataNode<T>*>(rhs.children[i])));
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}
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}
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}
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template <typename T>
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OcTreeDataNode<T>::~OcTreeDataNode()
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{
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// Delete only own members. OcTree maintains tree structure and must have deleted
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// children already
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assert(children == NULL);
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}
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template <typename T>
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void OcTreeDataNode<T>::copyData(const OcTreeDataNode<T>& from){
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value = from.value;
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}
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template <typename T>
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bool OcTreeDataNode<T>::operator== (const OcTreeDataNode<T>& rhs) const{
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return rhs.value == value;
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}
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// ============================================================
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// = children =======================================
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// ============================================================
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template <typename T>
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bool OcTreeDataNode<T>::childExists(unsigned int i) const {
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assert(i < 8);
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if ((children != NULL) && (children[i] != NULL))
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return true;
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else
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return false;
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}
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template <typename T>
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bool OcTreeDataNode<T>::hasChildren() const {
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if (children == NULL)
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return false;
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for (unsigned int i = 0; i<8; i++){
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// fast check, we know children != NULL
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if (children[i] != NULL)
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return true;
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}
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return false;
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}
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// ============================================================
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// = File IO =======================================
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// ============================================================
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template <typename T>
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std::istream& OcTreeDataNode<T>::readData(std::istream &s) {
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s.read((char*) &value, sizeof(value));
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return s;
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}
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template <typename T>
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std::ostream& OcTreeDataNode<T>::writeData(std::ostream &s) const{
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s.write((const char*) &value, sizeof(value));
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return s;
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}
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// ============================================================
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// = private methodes =======================================
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// ============================================================
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template <typename T>
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void OcTreeDataNode<T>::allocChildren() {
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children = new AbstractOcTreeNode*[8];
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for (unsigned int i=0; i<8; i++) {
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children[i] = NULL;
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}
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}
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} // end namespace
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