Basic node of Octree. More...

#include <Node.hpp>

Public Member Functions
	Node (int x, int y, int z, int size)
	Constructs Node with its properties. More...

	Node (Node const &other)
	Copy constructor. More...

virtual	~Node ()
	Destructor method. More...

int	getSize () const
	Returns size of node. More...

int	getX () const
	Returns x position of the node. More...

int	getY () const
	Returns y position of the node. More...

int	getZ () const
	Returns z position of the node. More...

int	getNbChildren () const
	Returns the number of children, [0, 8]. More...

std::array< T_Node *, 8 > const &	getChildren () const
	Returns the children array. More...

T_Node *	getParent () const
	Returns the parent node. More...

Octree< T_Node > *	getOctree () const
	Returns the octree. More...

bool	empty () const
	Check if node has children. More...

bool	operator== (Node const &other) const
	Compare coordinate and size of the node. More...

bool	operator!= (Node const &other) const
	Compare coordinate and size of the node. More...

void	merge (T_Node const &other)
	Merge method of the node, do nothing. More...

T_Node *	findNode (int x, int y, int z, int size) const
	Find node. More...

T_Node *	getChild (int x, int y, int z) const
	Get the child node that can contain the point at coordinate xyz. More...

int	getChildPos (int x, int y, int z) const
	Get the child node position that can contain the point at coordinate xyz. More...

uint8_t	getChildId () const

template<typename T >
bool	isInside (T x, T y, T z, T sx, T sy, T sz) const
	Check if box is inside the node. More...

template<typename T >
bool	isInside (T x, T y, T z) const
	Check if point is inside the node. More...

template<typename T >
bool	isInside (T x, T y, T z, T size) const
	Check if box is inside the node. More...

bool	isInside (T_Node &node) const
	Check if node is inside the node. More...

Protected Member Functions
void	changeOctree (Octree< T_Node > &octree)
	Change octree of the node and all its children. More...

Protected Attributes
std::array< T_Node *, 8 >	_children
	Array of children. More...

T_Node *	_parent = nullptr
	Parent node. More...

Octree< T_Node > *	_octree = nullptr
	Parent octree. More...

int	_x = 0
	X coordinate. More...

int	_y = 0
	Y coordinate. More...

int	_z = 0
	Z coordinate. More...

int	_size = 0
	Size of the node. More...

uint8_t	_childId = 0
	Child id inside parent's children array. More...

uint8_t	_nbChildren = 0
	Number of node inside the children array. More...

friend	Octree< T_Node >

Detailed Description

template<typename T_Node>
class voxomap::Node< T_Node >

Basic node of Octree.

Definition at line 17 of file Node.hpp.

Constructor & Destructor Documentation

◆ Node() [1/2]

template<typename T_Node >

voxomap::Node< T_Node >::Node	(	int	x,
		int	y,
		int	z,
		int	size
	)

Constructs Node with its properties.

Parameters

x	X coordinate
y	Y coordinate
z	Z coordinate
size	Size of the node

◆ Node() [2/2]

template<typename T_Node >

voxomap::Node< T_Node >::Node ( Node< T_Node > const & other )

Copy constructor.

◆ ~Node()

template<typename T_Node >

virtual voxomap::Node< T_Node >::~Node ( )

virtual

Destructor method.

Member Function Documentation

◆ getSize()

template<typename T_Node >

int voxomap::Node< T_Node >::getSize ( ) const

Returns size of node.

◆ getX()

template<typename T_Node >

int voxomap::Node< T_Node >::getX ( ) const

Returns x position of the node.

◆ getY()

template<typename T_Node >

int voxomap::Node< T_Node >::getY ( ) const

Returns y position of the node.

◆ getZ()

template<typename T_Node >

int voxomap::Node< T_Node >::getZ ( ) const

Returns z position of the node.

◆ getNbChildren()

template<typename T_Node >

int voxomap::Node< T_Node >::getNbChildren ( ) const

Returns the number of children, [0, 8].

◆ getChildren()

template<typename T_Node >

std::array<T_Node*, 8> const& voxomap::Node< T_Node >::getChildren ( ) const

Returns the children array.

◆ getParent()

template<typename T_Node >

T_Node* voxomap::Node< T_Node >::getParent ( ) const

Returns the parent node.

◆ getOctree()

template<typename T_Node >

Octree<T_Node>* voxomap::Node< T_Node >::getOctree ( ) const

Returns the octree.

◆ empty()

template<typename T_Node >

bool voxomap::Node< T_Node >::empty ( ) const

Check if node has children.

Returns: True if there is no children

◆ operator==()

template<typename T_Node >

bool voxomap::Node< T_Node >::operator== ( Node< T_Node > const & other ) const

Compare coordinate and size of the node.

Returns: True if this is similar to other

◆ operator!=()

template<typename T_Node >

bool voxomap::Node< T_Node >::operator!= ( Node< T_Node > const & other ) const

Compare coordinate and size of the node.

Returns: True if this is different to other

◆ merge()

template<typename T_Node >

void voxomap::Node< T_Node >::merge ( T_Node< T_Node > const & other )

Merge method of the node, do nothing.

◆ findNode()

template<typename T_Node >

T_Node* voxomap::Node< T_Node >::findNode	(	int	x,
		int	y,
		int	z,
		int	size
	)		const

Find node.

Parameters

x	X coordinate
y	Y coordinate
z	Z coordinate
size	Size of the node

Returns: True if this is different to other

◆ getChild()

template<typename T_Node >

T_Node* voxomap::Node< T_Node >::getChild	(	int	x,
		int	y,
		int	z
	)		const

Get the child node that can contain the point at coordinate xyz.

Parameters

x	X coordinate
y	Y coordinate
z	Z coordinate

Returns: The child node, nullptr if doesn't exist

◆ getChildPos()

template<typename T_Node >

int voxomap::Node< T_Node >::getChildPos	(	int	x,
		int	y,
		int	z
	)		const

Get the child node position that can contain the point at coordinate xyz.

Parameters

x	X coordinate
y	Y coordinate
z	Z coordinate

Returns: The index of children

◆ getChildId()

template<typename T_Node >

uint8_t voxomap::Node< T_Node >::getChildId ( ) const

Returns: The child id of this, inside the children array of the parent

◆ isInside() [1/4]

template<typename T_Node >

template<typename T >

bool voxomap::Node< T_Node >::isInside	(	T	x,
		T	y,
		T	z,
		T	sx,
		T	sy,
		T	sz
	)		const

Check if box is inside the node.

Parameters

x	X coordinate of the box
y	Y coordinate of the box
z	Z coordinate of the box
sx	Size on x axis of the box
sy	Size on y axis of the box
sz	Size on z axis of the box

Returns: True if the box is inside

◆ isInside() [2/4]

template<typename T_Node >

template<typename T >

bool voxomap::Node< T_Node >::isInside	(	T	x,
		T	y,
		T	z
	)		const

Check if point is inside the node.

Parameters

x	X coordinate
y	Y coordinate
z	Z coordinate

Returns: True if the point is inside

◆ isInside() [3/4]

template<typename T_Node >

template<typename T >

bool voxomap::Node< T_Node >::isInside	(	T	x,
		T	y,
		T	z,
		T	size
	)		const

Check if box is inside the node.

Parameters

x	X coordinate
y	Y coordinate
z	Z coordinate
size	Size of the box

Returns: True if the box is inside

◆ isInside() [4/4]

template<typename T_Node >

bool voxomap::Node< T_Node >::isInside ( T_Node< T_Node > & node ) const

Check if node is inside the node.

Parameters

node The node

Returns: True if the node can be inside this

◆ changeOctree()

template<typename T_Node >

void voxomap::Node< T_Node >::changeOctree ( Octree< T_Node< T_Node > > & octree )

protected

Change octree of the node and all its children.

Parameters

octree Reference to the octree

Member Data Documentation

◆ _children

template<typename T_Node >

std::array<T_Node*, 8> voxomap::Node< T_Node >::_children

protected

Array of children.

Definition at line 166 of file Node.hpp.

◆ _parent

template<typename T_Node >

T_Node* voxomap::Node< T_Node >::_parent = nullptr

protected

Parent node.

Definition at line 167 of file Node.hpp.

◆ _octree

template<typename T_Node >

Octree<T_Node>* voxomap::Node< T_Node >::_octree = nullptr

protected

Parent octree.

Definition at line 168 of file Node.hpp.

◆ _x

template<typename T_Node >

int voxomap::Node< T_Node >::_x = 0

protected

X coordinate.

Definition at line 169 of file Node.hpp.

◆ _y

template<typename T_Node >

int voxomap::Node< T_Node >::_y = 0

protected

Y coordinate.

Definition at line 170 of file Node.hpp.

◆ _z

template<typename T_Node >

int voxomap::Node< T_Node >::_z = 0

protected

Z coordinate.

Definition at line 171 of file Node.hpp.

◆ _size

template<typename T_Node >

int voxomap::Node< T_Node >::_size = 0

protected

Size of the node.

Definition at line 172 of file Node.hpp.

◆ _childId

template<typename T_Node >

uint8_t voxomap::Node< T_Node >::_childId = 0

protected

Child id inside parent's children array.

Definition at line 173 of file Node.hpp.

◆ _nbChildren

template<typename T_Node >

uint8_t voxomap::Node< T_Node >::_nbChildren = 0

protected

Number of node inside the children array.

Definition at line 174 of file Node.hpp.

◆ Octree< T_Node >

template<typename T_Node >

friend voxomap::Node< T_Node >::Octree< T_Node >

protected

Definition at line 175 of file Node.hpp.

The documentation for this class was generated from the following file:

C:/Users/micce/projects/voxomap/octree/Node.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename T_Node> class voxomap::Node< T_Node >

Constructor & Destructor Documentation

◆ Node() [1/2]

◆ Node() [2/2]

◆ ~Node()

Member Function Documentation

◆ getSize()

◆ getX()

◆ getY()

◆ getZ()

◆ getNbChildren()

◆ getChildren()

◆ getParent()

◆ getOctree()

◆ empty()

◆ operator==()

◆ operator!=()

◆ merge()

◆ findNode()

◆ getChild()

◆ getChildPos()

◆ getChildId()

◆ isInside() [1/4]

◆ isInside() [2/4]

◆ isInside() [3/4]

◆ isInside() [4/4]

◆ changeOctree()

Member Data Documentation

◆ _children

◆ _parent

◆ _octree

◆ _x

◆ _y

◆ _z

◆ _size

◆ _childId

◆ _nbChildren

◆ Octree< T_Node >

template<typename T_Node>
class voxomap::Node< T_Node >