Octree.hpp

Go to the documentation of this file.

#ifndef _VOXOMAP_OCTREE_HPP_
#define _VOXOMAP_OCTREE_HPP_
 
#include <cstdint>
#include <memory>
#include <vector>
#include <assert.h>
 
namespace voxomap
{
 
template <class T_Node>
class Octree
{
public:
    using Node = T_Node;
 
    Octree();
    Octree(Octree const& other);
    Octree(Octree&& other);
    virtual ~Octree() = default;
    Octree& operator=(Octree const& other);
    Octree& operator=(Octree&& other);
 
    virtual T_Node* push(T_Node& node);
    virtual std::unique_ptr<T_Node> pop(T_Node& node);
    T_Node*         findNode(int x, int y, int z, int size) const;
 
    virtual void    clear();
 
    T_Node*         getRootNode() const;
 
protected:
    uint8_t         findNodeNb(T_Node const& node) const;
 
    // Node method
    void            setChild(T_Node& parent, T_Node& child);
    void            setChild(T_Node& parent, T_Node& child, uint8_t childId);
    void            removeParent(T_Node& child);
    T_Node*         removeChild(T_Node& parent, uint8_t id);
    T_Node*         findParentNode(T_Node& parent, T_Node& node, uint8_t& childId) const;
    T_Node*         push(T_Node& parent, T_Node& node);
    T_Node*         push(T_Node& parent, T_Node& child, uint8_t childId);
    void            insertNode(T_Node& child, T_Node& newChild);
    void            merge(T_Node& currentNode, T_Node& newNode);
 
    std::unique_ptr<T_Node> _rootNode;    
};
 
}
 
#include "Octree.ipp"
 
#endif // _VOXOMAP_OCTREE_HPP_