Octree container. More...

#include <Octree.hpp>

Public Types
using	Node = T_Node

Public Member Functions
	Octree ()
	Default constructor. More...

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

	Octree (Octree &&other)
	Move constructor. More...

virtual	~Octree ()=default
	Default virtual destructor. More...

Octree &	operator= (Octree const &other)
	Assignement operator. More...

Octree &	operator= (Octree &&other)
	Assignement move operator. More...

virtual T_Node *	push (T_Node &node)
	Pushes node into the octree. More...

virtual std::unique_ptr< T_Node >	pop (T_Node &node)
	Removes node from the octree. More...

T_Node *	findNode (int x, int y, int z, int size) const
	Search the node that corresponds to the parameters. More...

virtual void	clear ()
	Clear the octree Removes all nodes and all elements. More...

T_Node *	getRootNode () const
	Getter of the root node. More...

Protected Member Functions
uint8_t	findNodeNb (T_Node const &node) const
	Method use to find the index of node inside the root node. More...

void	setChild (T_Node &parent, T_Node &child)
	Set child as child of parent. More...

void	setChild (T_Node &parent, T_Node &child, uint8_t childId)
	Set child as child of parent. More...

void	removeParent (T_Node &child)
	Remove the parent node of child from the octree. More...

T_Node *	removeChild (T_Node &parent, uint8_t id)
	Remove the child with id from the parent node. More...

T_Node *	findParentNode (T_Node &parent, T_Node &node, uint8_t &childId) const
	Find node inside parent that can contain node. More...

T_Node *	push (T_Node &parent, T_Node &node)
	Push node inside parent. More...

T_Node *	push (T_Node &parent, T_Node &child, uint8_t childId)
	Push node inside parent. More...

void	insertNode (T_Node &child, T_Node &newChild)
	Create parent node that can contain child and newChild and push it into octree. More...

void	merge (T_Node &currentNode, T_Node &newNode)
	Merge two nodes. More...

Protected Attributes
std::unique_ptr< T_Node >	_rootNode
	Main node of the octree. More...

Detailed Description

template<class T_Node>
class voxomap::Octree< T_Node >

Octree container.

Definition at line 22 of file Octree.hpp.

Member Typedef Documentation

◆ Node

template<class T_Node >

using voxomap::Octree< T_Node >::Node = T_Node

Definition at line 25 of file Octree.hpp.

Constructor & Destructor Documentation

◆ Octree() [1/3]

template<class T_Node >

voxomap::Octree< T_Node >::Octree ( )

Default constructor.

◆ Octree() [2/3]

template<class T_Node >

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

Copy constructor.

◆ Octree() [3/3]

template<class T_Node >

voxomap::Octree< T_Node >::Octree ( Octree< T_Node > && other )

Move constructor.

◆ ~Octree()

template<class T_Node >

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

virtualdefault

Default virtual destructor.

Member Function Documentation

◆ operator=() [1/2]

template<class T_Node >

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

Assignement operator.

Parameters

other Right operand

Returns: Reference to this

◆ operator=() [2/2]

template<class T_Node >

Octree& voxomap::Octree< T_Node >::operator= ( Octree< T_Node > && other )

Assignement move operator.

Parameters

other Right operand

Returns: Reference to this

◆ push() [1/3]

template<class T_Node >

virtual T_Node* voxomap::Octree< T_Node >::push ( T_Node & node )

virtual

Pushes node into the octree.

Parameters

node	Node to push

◆ pop()

template<class T_Node >

virtual std::unique_ptr<T_Node> voxomap::Octree< T_Node >::pop ( T_Node & node )

virtual

Removes node from the octree.

Returns

◆ findNode()

template<class T_Node >

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

Search the node that corresponds to the parameters.

Parameters

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

Returns: Pointer to the node if it exists otherwise nullptr

◆ clear()

template<class T_Node >

virtual void voxomap::Octree< T_Node >::clear ( )

virtual

Clear the octree Removes all nodes and all elements.

◆ getRootNode()

template<class T_Node >

T_Node* voxomap::Octree< T_Node >::getRootNode ( ) const

Getter of the root node.

Returns: The root node

◆ findNodeNb()

template<class T_Node >

uint8_t voxomap::Octree< T_Node >::findNodeNb ( T_Node const & node ) const

protected

Method use to find the index of node inside the root node.

Parameters

node The node

Returns: The index

◆ setChild() [1/2]

template<class T_Node >

void voxomap::Octree< T_Node >::setChild	(	T_Node &	parent,
		T_Node &	child
	)

protected

Set child as child of parent.

Parameters

parent	Parent node
child	Child node

◆ setChild() [2/2]

template<class T_Node >

void voxomap::Octree< T_Node >::setChild	(	T_Node &	parent,
		T_Node &	child,
		uint8_t	childId
	)

protected

Set child as child of parent.

Parameters

parent	Parent node
child	Child node
childId	Id of the child inside parent's children array

◆ removeParent()

template<class T_Node >

void voxomap::Octree< T_Node >::removeParent ( T_Node & child )

protected

Remove the parent node of child from the octree.

◆ removeChild()

template<class T_Node >

T_Node* voxomap::Octree< T_Node >::removeChild	(	T_Node &	parent,
		uint8_t	id
	)

protected

Remove the child with id from the parent node.

Returns: The removed node

◆ findParentNode()

template<class T_Node >

T_Node* voxomap::Octree< T_Node >::findParentNode	(	T_Node &	parent,
		T_Node &	node,
		uint8_t &	childId
	)		const

protected

Find node inside parent that can contain node.

Parameters

parent	Parent node
node	The new node
childId	Id of the node inside the found parent

Returns: The found parent node, nullptr if not exist

◆ push() [2/3]

template<class T_Node >

T_Node* voxomap::Octree< T_Node >::push	(	T_Node &	parent,
		T_Node &	node
	)

protected

Push node inside parent.

Parameters

parent	Parent node
node	Node to push

Returns: Node added, can be different than node if a similar node already exist

◆ push() [3/3]

template<class T_Node >

T_Node* voxomap::Octree< T_Node >::push	(	T_Node &	parent,
		T_Node &	child,
		uint8_t	childId
	)

protected

Push node inside parent.

Parameters

parent	Parent node
child	Child node
childId	Id of the child inside parent's children array

Returns: Node added, can be different than node if a similar node already exist

◆ insertNode()

template<class T_Node >

void voxomap::Octree< T_Node >::insertNode	(	T_Node &	child,
		T_Node &	newChild
	)

protected

Create parent node that can contain child and newChild and push it into octree.

◆ merge()

template<class T_Node >

void voxomap::Octree< T_Node >::merge	(	T_Node &	currentNode,
		T_Node &	newNode
	)

protected

Merge two nodes.

Parameters

currentNode	Node already present in the octree
newNode	Node to merge inside

Member Data Documentation

◆ _rootNode

template<class T_Node >

std::unique_ptr<T_Node> voxomap::Octree< T_Node >::_rootNode

protected

Main node of the octree.

Definition at line 153 of file Octree.hpp.

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

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<class T_Node> class voxomap::Octree< T_Node >

Member Typedef Documentation

◆ Node

Constructor & Destructor Documentation

◆ Octree() [1/3]

◆ Octree() [2/3]

◆ Octree() [3/3]

◆ ~Octree()

Member Function Documentation

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ push() [1/3]

◆ pop()

◆ findNode()

◆ clear()

◆ getRootNode()

◆ findNodeNb()

◆ setChild() [1/2]

◆ setChild() [2/2]

◆ removeParent()

◆ removeChild()

◆ findParentNode()

◆ push() [2/3]

◆ push() [3/3]

◆ insertNode()

◆ merge()

Member Data Documentation

◆ _rootNode

template<class T_Node>
class voxomap::Octree< T_Node >