wehub-resource-sync
114 lines
3.5 KiB
C++
Executable File
114 lines
3.5 KiB
C++
Executable File
/**
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* UFOMap: An Efficient Probabilistic 3D Mapping Framework That Embraces the Unknown
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*
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* @author D. Duberg, KTH Royal Institute of Technology, Copyright (c) 2020.
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* @see https://github.com/UnknownFreeOccupied/ufomap
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* License: BSD 3
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*
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*/
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/*
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* BSD 3-Clause License
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*
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* Copyright (c) 2020, D. Duberg, KTH Royal Institute of Technology
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* All rights reserved.
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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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* 1. Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* 3. Neither the name of the copyright holder 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 ARE
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef UFO_MAP_OCTREE_NODE_H
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#define UFO_MAP_OCTREE_NODE_H
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// STD
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#include <iostream>
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namespace ufo::map
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{
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// Have DEPTH in case it is of type OctreeInnerNode
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template <typename T>
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struct OctreeLeafNode {
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T value;
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/**
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* @brief Write the data from this node to stream s
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*
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* @param s The stream to write the data to
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* @return std::ostream&
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*/
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std::ostream& writeData(std::ostream& s) const
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{
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return value.writeData(s);
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}
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/**
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* @brief Read the data for this node from stream s
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*
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* @param s The stream to read the data from
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* @return std::istream&
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*/
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std::istream& readData(std::istream& s)
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{
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return value.readData(s);
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}
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};
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template <typename T>
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struct OctreeInnerNodeBase : T {
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// Note: Important that the bools are before the children because of alignment
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// Indicates whether this is a leaf node (has no children) or not. If true then the
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// children are not valid and should not be accessed
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bool is_leaf = true;
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// Pointer to children
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void* children = nullptr;
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// void setChildExists(std::size_t index, bool value)
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// {
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// // Source:
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// //
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// https://stackoverflow.com/questions/47981/how-do-you-set-clear-and-toggle-a-single-bit
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// if (value) {
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// child_exists |= 1U << index;
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// } else {
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// child_exists &= ~(1U << index);
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// }
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// }
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// bool childExists(std::size_t index) const
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// {
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// // Source:
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// //
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// https://stackoverflow.com/questions/523724/c-c-check-if-one-bit-is-set-in-i-e-int-variable
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// return child_exist & (1U << index);
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// }
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};
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template <typename T>
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using OctreeInnerNode = OctreeInnerNodeBase<OctreeLeafNode<T>>;
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} // namespace ufo::map
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#endif // UFO_MAP_OCTREE_NODE_H
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