octomap 1.9.8
OcTreeDataNode.hxx
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1/*
2 * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
3 * https://octomap.github.io/
4 *
5 * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
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10 * modification, are permitted provided that the following conditions are met:
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33
34namespace octomap {
35
36 template <typename T>
38 : children(NULL)
39 {
40
41 }
42
43 template <typename T>
45 : children(NULL), value(initVal)
46 {
47
48 }
49
50 template <typename T>
52 : children(NULL), value(rhs.value)
53 {
54 if (rhs.children != NULL){
56 for (unsigned i = 0; i<8; ++i){
57 if (rhs.children[i] != NULL)
58 children[i] = new OcTreeDataNode<T>(*(static_cast<OcTreeDataNode<T>*>(rhs.children[i])));
59
60 }
61 }
62 }
63
64 template <typename T>
66 {
67 // Delete only own members. OcTree maintains tree structure and must have deleted
68 // children already
69 assert(children == NULL);
70 }
71
72 template <typename T>
74 value = from.value;
75 }
76
77 template <typename T>
79 return rhs.value == value;
80 }
81
82 // ============================================================
83 // = children =======================================
84 // ============================================================
86
87 template <typename T>
88 bool OcTreeDataNode<T>::childExists(unsigned int i) const {
89 assert(i < 8);
90 if ((children != NULL) && (children[i] != NULL))
91 return true;
92 else
93 return false;
94 }
95
96 template <typename T>
98 if (children == NULL)
99 return false;
100 for (unsigned int i = 0; i<8; i++){
101 // fast check, we know children != NULL
102 if (children[i] != NULL)
103 return true;
104 }
105 return false;
106 }
107
108
109 // ============================================================
110 // = File IO =======================================
111 // ============================================================
112
113 template <typename T>
114 std::istream& OcTreeDataNode<T>::readData(std::istream &s) {
115 s.read((char*) &value, sizeof(value));
116 return s;
117 }
118
119
120 template <typename T>
121 std::ostream& OcTreeDataNode<T>::writeData(std::ostream &s) const{
122 s.write((const char*) &value, sizeof(value));
123 return s;
124 }
125
126
127 // ============================================================
128 // = private methodes =======================================
129 // ============================================================
130 template <typename T>
132 children = new AbstractOcTreeNode*[8];
133 for (unsigned int i=0; i<8; i++) {
134 children[i] = NULL;
135 }
136 }
137
138
139} // end namespace
140
Definition: OcTreeDataNode.h:43
Basic node in the OcTree that can hold arbitrary data of type T in value.
Definition: OcTreeDataNode.h:63
AbstractOcTreeNode ** children
pointer to array of children, may be NULL
Definition: OcTreeDataNode.h:126
T value
stored data (payload)
Definition: OcTreeDataNode.h:128
bool operator==(const OcTreeDataNode &rhs) const
Equals operator, compares if the stored value is identical.
Definition: OcTreeDataNode.hxx:78
std::ostream & writeData(std::ostream &s) const
Write node payload (data only) to binary stream.
Definition: OcTreeDataNode.hxx:121
OcTreeDataNode()
Definition: OcTreeDataNode.hxx:37
void allocChildren()
Definition: OcTreeDataNode.hxx:131
std::istream & readData(std::istream &s)
Read node payload (data only) from binary stream.
Definition: OcTreeDataNode.hxx:114
void copyData(const OcTreeDataNode &from)
Copy the payload (data in "value") from rhs into this node Opposed to copy ctor, this does not clone ...
Definition: OcTreeDataNode.hxx:73
~OcTreeDataNode()
Delete only own members. OcTree maintains tree structure and must have deleted children already.
Definition: OcTreeDataNode.hxx:65
Namespace the OctoMap library and visualization tools.