Node.hpp

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#ifndef _VOXOMAP_NODE_HPP_
#define _VOXOMAP_NODE_HPP_
 
#include <array>
#include <memory>
 
namespace voxomap
{
 
template <typename T_Node> class Octree;
 
template <typename T_Node>
class Node
{
public:
    Node(int x, int y, int z, int size);
    Node(Node const& other);
    virtual ~Node();
 
    inline int              getSize() const;
    inline int              getX() const;
    inline int              getY() const;
    inline int              getZ() const;
    inline int              getNbChildren() const;
    inline std::array<T_Node*, 8> const& getChildren() const;
    inline T_Node*          getParent() const;
    inline Octree<T_Node>*  getOctree() const;
    inline bool             empty() const;
    inline bool             operator==(Node const& other) const;
    inline bool             operator!=(Node const& other) const;
 
    void                    merge(T_Node const& other);
 
    T_Node*                 findNode(int x, int y, int z, int size) const;
 
    inline T_Node*          getChild(int x, int y, int z) const;
    inline int              getChildPos(int x, int y, int z) const;
    inline uint8_t          getChildId() const;
 
    template <typename T>
    inline bool             isInside(T x, T y, T z, T sx, T sy, T sz) const;
    template <typename T>
    inline bool             isInside(T x, T y, T z) const;
    template <typename T>
    inline bool             isInside(T x, T y, T z, T size) const;
    inline bool             isInside(T_Node& node) const;
 
protected:
    void                    changeOctree(Octree<T_Node>& octree);
 
    std::array<T_Node*, 8>  _children;          
    T_Node*                 _parent = nullptr;  
    Octree<T_Node>*         _octree = nullptr;  
    int                     _x = 0;             
    int                     _y = 0;             
    int                     _z = 0;             
    int                     _size = 0;          
    uint8_t                 _childId = 0;       
    uint8_t                 _nbChildren = 0;    
    friend Octree<T_Node>;
};
 
}
 
#include "Node.ipp"
 
#endif // _VOXOMAP_NODE_HPP_