Node optimized for voxel. More...

#include <VoxelNode.hpp>

Classes
struct	NeighborAreaCache
	Use by the method findRelativeVoxel to improve performance. More...

Public Types
using	Container = T_Container

using	VoxelData = typename T_Container::VoxelData

using	iterator = typename T_Container::iterator

using	P_Node = Node< VoxelNode< T_Container > >

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

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

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

iterator	begin ()
	Returns an iterator to the first voxel of the node. More...

iterator	end ()
	Returns an iterator to the voxel folowing the last voxel of the node. More...

unsigned int	getNbVoxel () const
	Returns the number of voxels. More...

bool	hasVoxel () const
	Returns true if node has voxel. More...

T_Container *	getVoxelContainer ()
	Returns the voxel container. More...

T_Container const *	getVoxelContainer () const
	Returns the voxel container. More...

std::shared_ptr< T_Container >	getSharedVoxelContainer ()
	Returns a shared pointer to the voxel container. More...

void	setVoxelContainer (std::shared_ptr< T_Container > container)
	Sets the voxel container. More...

iterator	findVoxel (int x, int y, int z)
	Search voxel. More...

bool	findVoxel (iterator &it)
	Search voxel. More...

iterator	findRelativeVoxel (int x, int y, int z) const
	Search voxel with position relative to the node position. More...

iterator	findRelativeVoxel (NeighborAreaCache &neighbor_cache, int x, int y, int z) const
	Search voxel with position relative to the node position. Use cache structure for improve performance in case of lot of calls. More...

template<typename... Args>
bool	addVoxel (iterator &it, Args &&... args)
	Add the voxel if not exist. More...

template<typename... Args>
bool	updateVoxel (iterator &it, Args &&... args)
	Update the voxel if already exist. More...

template<typename... Args>
void	putVoxel (iterator &it, Args &&... args)
	Add or update the voxel. More...

template<typename... Args>
bool	removeVoxel (iterator const &it, Args &&... args)
	Remove an existing voxel. More...

void	exploreVoxel (std::function< void(iterator const &)> const &predicate) const
	Browse all voxels and call predicate on each. More...

void	exploreVoxelContainer (std::function< void(typename T_Container::VoxelContainer const &)> const &predicate) const
	Browse all voxel containers and call predicate on each. More...

void	exploreVoxelNode (std::function< void(VoxelNode const &)> const &predicate) const
	Browse all voxel nodes and call predicate on each. More...

void	exploreVoxelNode (std::function< void(VoxelNode &)> const &predicate)
	Browse all voxel containers and call predicate on each. More...

void	exploreBoundingBox (BoundingBox< int > const &bounding_box, std::function< void(VoxelNode &)> const &in_predicate, std::function< void(VoxelNode &)> const &out_predicate)
	Browse all voxel containers. More...

void	copyOnWrite ()
	Copy the voxel container if a modification occured (add/remove/update voxel) and the container is shared with another octree. More...

void	merge (VoxelNode &node)
	Merge this with node Add existing voxel in node inside this but don't update voxel that already exists in this. More...

bool	empty () const
	Returns true if there is no voxel. More...

void	serialize (std::string &str) const
	Serialize the structure. More...

size_t	unserialize (char const *str, size_t strsize)
	Unserialize str. More...

Static Public Member Functions
static int	findContainerPosition (int src, int container_id)
	Method to find voxel container index inside its container. More...

static int	findVoxelPosition (int src)
	Method to find voxel index inside its container. More...

Private Member Functions
uint32_t	serializeNode (std::string &str) const
	Serialize node in str. More...

Private Attributes
std::shared_ptr< T_Container >	_container
	Voxel container. More...

friend	T_Container

Detailed Description

template<class T_Container>
class voxomap::VoxelNode< T_Container >

Node optimized for voxel.

Examples: ArrayArea, Find Voxel, SidedArea, and SmartArea.

Definition at line 16 of file VoxelNode.hpp.

Member Typedef Documentation

◆ Container

template<class T_Container >

using voxomap::VoxelNode< T_Container >::Container = T_Container

Definition at line 24 of file VoxelNode.hpp.

◆ VoxelData

template<class T_Container >

using voxomap::VoxelNode< T_Container >::VoxelData = typename T_Container::VoxelData

Definition at line 25 of file VoxelNode.hpp.

◆ iterator

template<class T_Container >

using voxomap::VoxelNode< T_Container >::iterator = typename T_Container::iterator

Definition at line 26 of file VoxelNode.hpp.

◆ P_Node

template<class T_Container >

using voxomap::VoxelNode< T_Container >::P_Node = Node<VoxelNode<T_Container> >

Definition at line 27 of file VoxelNode.hpp.

Constructor & Destructor Documentation

◆ VoxelNode() [1/2]

template<class T_Container >

voxomap::VoxelNode< T_Container >::VoxelNode	(	int	x,
		int	y,
		int	z,
		int	size
	)

Constructs VoxelNode with its properties.

Parameters

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

◆ VoxelNode() [2/2]

template<class T_Container >

voxomap::VoxelNode< T_Container >::VoxelNode ( VoxelNode< T_Container > const & other )

Copy constructor.

◆ ~VoxelNode()

template<class T_Container >

virtual voxomap::VoxelNode< T_Container >::~VoxelNode ( )

virtualdefault

Default destructor.

Member Function Documentation

◆ begin()

template<class T_Container >

iterator voxomap::VoxelNode< T_Container >::begin ( )

Returns an iterator to the first voxel of the node.

◆ end()

template<class T_Container >

iterator voxomap::VoxelNode< T_Container >::end ( )

Returns an iterator to the voxel folowing the last voxel of the node.

◆ getNbVoxel()

template<class T_Container >

unsigned int voxomap::VoxelNode< T_Container >::getNbVoxel ( ) const

Returns the number of voxels.

◆ hasVoxel()

template<class T_Container >

bool voxomap::VoxelNode< T_Container >::hasVoxel ( ) const

Returns true if node has voxel.

◆ getVoxelContainer() [1/2]

template<class T_Container >

T_Container* voxomap::VoxelNode< T_Container >::getVoxelContainer ( )

Returns the voxel container.

◆ getVoxelContainer() [2/2]

template<class T_Container >

T_Container const* voxomap::VoxelNode< T_Container >::getVoxelContainer ( ) const

Returns the voxel container.

◆ getSharedVoxelContainer()

template<class T_Container >

std::shared_ptr<T_Container> voxomap::VoxelNode< T_Container >::getSharedVoxelContainer ( )

Returns a shared pointer to the voxel container.

◆ setVoxelContainer()

template<class T_Container >

void voxomap::VoxelNode< T_Container >::setVoxelContainer ( std::shared_ptr< T_Container > container )

Sets the voxel container.

◆ findVoxel() [1/2]

template<class T_Container >

iterator voxomap::VoxelNode< T_Container >::findVoxel	(	int	x,
		int	y,
		int	z
	)

Search voxel.

Parameters

x	X coordinate
y	Y coordinate
z	Z coordinate

Returns: iterator on the found voxel

◆ findVoxel() [2/2]

template<class T_Container >

bool voxomap::VoxelNode< T_Container >::findVoxel ( iterator & it )

Search voxel.

Parameters

it	Iterator with the voxel position

Returns: True if a voxel was found, it was updated

◆ findRelativeVoxel() [1/2]

template<class T_Container >

iterator voxomap::VoxelNode< T_Container >::findRelativeVoxel	(	int	x,
		int	y,
		int	z
	)		const

Search voxel with position relative to the node position.

Parameters

x	X coordinate
y	Y coordinate
z	Z coordinate

Returns: iterator on the found voxel

◆ findRelativeVoxel() [2/2]

template<class T_Container >

iterator voxomap::VoxelNode< T_Container >::findRelativeVoxel	(	NeighborAreaCache &	neighbor_cache,
		int	x,
		int	y,
		int	z
	)		const

Search voxel with position relative to the node position. Use cache structure for improve performance in case of lot of calls.

Parameters

neighbor_cache	Cache structure
x	X coordinate
y	Y coordinate
z	Z coordinate

Returns: iterator on the found voxel

◆ addVoxel()

template<class T_Container >

template<typename... Args>

bool voxomap::VoxelNode< T_Container >::addVoxel	(	iterator &	it,
		Args &&...	args
	)

Add the voxel if not exist.

Parameters

it	Iterator that contain coordinates
args	Arguments forward to VoxelData constructor

Returns: True if a voxel was added

◆ updateVoxel()

template<class T_Container >

template<typename... Args>

bool voxomap::VoxelNode< T_Container >::updateVoxel	(	iterator &	it,
		Args &&...	args
	)

Update the voxel if already exist.

Parameters

it	Iterator that contain coordinates
args	Arguments forward to VoxelData constructor

Returns: True if a voxel was updated

◆ putVoxel()

template<class T_Container >

template<typename... Args>

void voxomap::VoxelNode< T_Container >::putVoxel	(	iterator &	it,
		Args &&...	args
	)

Add or update the voxel.

Parameters

it	Iterator that contain coordinates
args	Arguments forward to VoxelData constructor

◆ removeVoxel()

template<class T_Container >

template<typename... Args>

bool voxomap::VoxelNode< T_Container >::removeVoxel	(	iterator const &	it,
		Args &&...	args
	)

Remove an existing voxel.

Parameters

it	Iterator that contain coordinates
args	Arguments forward to VoxelData constructor

Returns: True if success

◆ exploreVoxel()

template<class T_Container >

void voxomap::VoxelNode< T_Container >::exploreVoxel ( std::function< void(iterator const &)> const & predicate ) const

Browse all voxels and call predicate on each.

Parameters

predicate Function called for each voxel

◆ exploreVoxelContainer()

template<class T_Container >

void voxomap::VoxelNode< T_Container >::exploreVoxelContainer ( std::function< void(typename T_Container::VoxelContainer const &)> const & predicate ) const

Browse all voxel containers and call predicate on each.

Parameters

predicate Function called for each voxel container

◆ exploreVoxelNode() [1/2]

template<class T_Container >

void voxomap::VoxelNode< T_Container >::exploreVoxelNode ( std::function< void(VoxelNode< T_Container > const &)> const & predicate ) const

Browse all voxel nodes and call predicate on each.

Parameters

predicate Function called for each voxel node

◆ exploreVoxelNode() [2/2]

template<class T_Container >

void voxomap::VoxelNode< T_Container >::exploreVoxelNode ( std::function< void(VoxelNode< T_Container > &)> const & predicate )

Browse all voxel containers and call predicate on each.

Parameters

predicate Function called for each voxel area

◆ exploreBoundingBox()

template<class T_Container >

void voxomap::VoxelNode< T_Container >::exploreBoundingBox	(	BoundingBox< int > const &	bounding_box,
		std::function< void(VoxelNode< T_Container > &)> const &	in_predicate,
		std::function< void(VoxelNode< T_Container > &)> const &	out_predicate
	)

Browse all voxel containers.

Parameters

bounding_box	The aligned axis bounding box
in_predicate	Function called for each voxel container inside the bounding box
out_predicate	Function called for each voxel container outside the bounding box

◆ copyOnWrite()

template<class T_Container >

void voxomap::VoxelNode< T_Container >::copyOnWrite ( )

Copy the voxel container if a modification occured (add/remove/update voxel) and the container is shared with another octree.

◆ merge()

template<class T_Container >

void voxomap::VoxelNode< T_Container >::merge ( VoxelNode< T_Container > & node )

Merge this with node Add existing voxel in node inside this but don't update voxel that already exists in this.

◆ empty()

template<class T_Container >

bool voxomap::VoxelNode< T_Container >::empty ( ) const

Returns true if there is no voxel.

◆ serialize()

template<class T_Container >

void voxomap::VoxelNode< T_Container >::serialize ( std::string & str ) const

Serialize the structure.

Parameters

str	String use for save the serialization

◆ unserialize()

template<class T_Container >

size_t voxomap::VoxelNode< T_Container >::unserialize	(	char const *	str,
		size_t	strsize
	)

Unserialize str.

Parameters

str	String that contains data
strsize	Size of the string

Returns: Number of bytes read inside str

◆ serializeNode()

template<class T_Container >

uint32_t voxomap::VoxelNode< T_Container >::serializeNode ( std::string & str ) const

private

Serialize node in str.

◆ findContainerPosition()

template<class T_Container >

static int voxomap::VoxelNode< T_Container >::findContainerPosition	(	int	src,
		int	container_id
	)

static

Method to find voxel container index inside its container.

Parameters

src	Coordinate (x, y or z)
container_id	Id of the container

Returns: The index

◆ findVoxelPosition()

template<class T_Container >

static int voxomap::VoxelNode< T_Container >::findVoxelPosition ( int src )

static

Method to find voxel index inside its container.

Parameters

src	Coordinate (x, y or z)

Returns: The index

Member Data Documentation

◆ _container

template<class T_Container >

std::shared_ptr<T_Container> voxomap::VoxelNode< T_Container >::_container

private

Voxel container.

Definition at line 222 of file VoxelNode.hpp.

◆ T_Container

template<class T_Container >

friend voxomap::VoxelNode< T_Container >::T_Container

private

Definition at line 223 of file VoxelNode.hpp.

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

C:/Users/micce/projects/voxomap/voxel_octree/iterator.hpp
C:/Users/micce/projects/voxomap/voxel_octree/VoxelNode.hpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

template<class T_Container> class voxomap::VoxelNode< T_Container >

Member Typedef Documentation

◆ Container

◆ VoxelData

◆ iterator

◆ P_Node

Constructor & Destructor Documentation

◆ VoxelNode() [1/2]

◆ VoxelNode() [2/2]

◆ ~VoxelNode()

Member Function Documentation

◆ begin()

◆ end()

◆ getNbVoxel()

◆ hasVoxel()

◆ getVoxelContainer() [1/2]

◆ getVoxelContainer() [2/2]

◆ getSharedVoxelContainer()

◆ setVoxelContainer()

◆ findVoxel() [1/2]

◆ findVoxel() [2/2]

◆ findRelativeVoxel() [1/2]

◆ findRelativeVoxel() [2/2]

◆ addVoxel()

◆ updateVoxel()

◆ putVoxel()

◆ removeVoxel()

◆ exploreVoxel()

◆ exploreVoxelContainer()

◆ exploreVoxelNode() [1/2]

◆ exploreVoxelNode() [2/2]

◆ exploreBoundingBox()

◆ copyOnWrite()

◆ merge()

◆ empty()

◆ serialize()

◆ unserialize()

◆ serializeNode()

◆ findContainerPosition()

◆ findVoxelPosition()

Member Data Documentation

◆ _container

◆ T_Container

template<class T_Container>
class voxomap::VoxelNode< T_Container >