Octree optimized for voxel. More...

#include <VoxelOctree.hpp>

Public Types
using	VoxelData = typename T_Container::VoxelData

using	iterator = typename T_Container::iterator

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

	VoxelOctree (VoxelOctree< T_Container > const &other)
	Copy constructor. More...

	VoxelOctree (VoxelOctree< T_Container > &&other)
	Move constructor. More...

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

VoxelOctree &	operator= (VoxelOctree< T_Container > const &other)
	Assignement operator. More...

VoxelOctree &	operator= (VoxelOctree< T_Container > &&other)
	Move assignement operator. More...

VoxelNode< T_Container > *	push (VoxelNode< T_Container > &node) override
	Pushes node into the octree. More...

std::unique_ptr< VoxelNode< T_Container > >	pop (VoxelNode< T_Container > &node) override
	Removes node from the octree. More...

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

template<typename T >
iterator	findVoxel (T x, T y, T z)
	Returns a voxel iterator. More...

template<typename T >
VoxelNode< T_Container > *	findVoxelNode (T x, T y, T z) const
	Returns a node, can be NULL. More...

template<typename T , typename... Args>
std::pair< iterator, bool >	addVoxel (T x, T y, T z, Args &&... args)
	Add the voxel if not exist. More...

template<typename T , typename... Args>
iterator	updateVoxel (T x, T y, T z, Args &&... args)
	Update the voxel if already exist. More...

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

template<typename T , typename... Args>
iterator	putVoxel (T x, T y, T z, Args &&... args)
	Add or update the voxel. More...

template<typename T , typename... Args>
bool	removeVoxel (T x, T y, T z, Args &&... args)
	Removes a voxel. More...

template<typename... Args>
bool	removeVoxel (iterator it, Args &&... args)
	Removes a voxel. More...

unsigned int	getContainerSize () const
	Returns the size of containers. More...

void	removeOfCache (VoxelNode< T_Container > const &node)
	Calcul the bounding box. More...

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

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

void	exploreVoxelNode (std::function< void(VoxelNode< T_Container > const &)> const &predicate) const
	Browse all voxel nodes. More...

void	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. More...

unsigned int	getNbVoxels () const
	Get the number of voxels. More...

void	setNbVoxels (unsigned int nbVoxels)
	Set the number of voxels. More...

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

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

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

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

Protected Member Functions
VoxelNode< T_Container > *	pushContainerNode (int x, int y, int z)
	Adds the leaf node that contain the voxel container. More...

template<typename T >
std::enable_if< std::is_floating_point< T >::value, VoxelNode< T_Container > * >::type	pushContainerNode (T x, T y, T z)
	Adds the leaf node that contain the voxel container. More...

Protected Attributes
VoxelNode< T_Container > *	_nodeCache = nullptr
	Cache for improve performance. More...

unsigned int	_nbVoxels = 0
	Number of voxels. More...

Private Member Functions
iterator	_findVoxel (int x, int y, int z)
	Method to find voxel (for integer arguments) More...

template<typename T >
std::enable_if< std::is_floating_point< T >::value, iterator >::type	_findVoxel (T x, T y, T z)
	Method to find voxel (for floating point arguments) More...

VoxelNode< T_Container > *	_findVoxelNode (int x, int y, int z) const
	Method to find node that contain voxel (for integer arguments) More...

template<typename T >
std::enable_if< std::is_floating_point< T >::value, VoxelNode< T_Container > * >::type	_findVoxelNode (T x, T y, T z) const
	Method to find node that contain voxel (for floating point arguments) More...

Detailed Description

template<class T_Container>
class voxomap::VoxelOctree< T_Container >

Octree optimized for voxel.

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

Definition at line 19 of file VoxelOctree.hpp.

Member Typedef Documentation

◆ VoxelData

template<class T_Container >

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

Definition at line 27 of file VoxelOctree.hpp.

◆ iterator

template<class T_Container >

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

Definition at line 28 of file VoxelOctree.hpp.

Constructor & Destructor Documentation

◆ VoxelOctree() [1/3]

template<class T_Container >

voxomap::VoxelOctree< T_Container >::VoxelOctree ( )

Default constructor.

◆ VoxelOctree() [2/3]

template<class T_Container >

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

Copy constructor.

◆ VoxelOctree() [3/3]

template<class T_Container >

voxomap::VoxelOctree< T_Container >::VoxelOctree ( VoxelOctree< T_Container > && other )

Move constructor.

◆ ~VoxelOctree()

template<class T_Container >

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

virtualdefault

Default destructor.

Member Function Documentation

◆ operator=() [1/2]

template<class T_Container >

VoxelOctree& voxomap::VoxelOctree< T_Container >::operator= ( VoxelOctree< T_Container > const & other )

Assignement operator.

◆ operator=() [2/2]

template<class T_Container >

VoxelOctree& voxomap::VoxelOctree< T_Container >::operator= ( VoxelOctree< T_Container > && other )

Move assignement operator.

◆ push()

template<class T_Container >

VoxelNode<T_Container>* voxomap::VoxelOctree< T_Container >::push ( VoxelNode< T_Container > & node )

override

Pushes node into the octree.

Parameters

node	Node to push

Returns: Pointer to the added node, can be different of node if it is already present in the octree

◆ pop()

template<class T_Container >

std::unique_ptr<VoxelNode<T_Container> > voxomap::VoxelOctree< T_Container >::pop ( VoxelNode< T_Container > & node )

override

Removes node from the octree.

Parameters

node	Node to remove

Returns: Pointer to the removed node

◆ clear()

template<class T_Container >

void voxomap::VoxelOctree< T_Container >::clear ( )

override

Clear the octree Removes all nodes and all elements.

◆ findVoxel()

template<class T_Container >

template<typename T >

iterator voxomap::VoxelOctree< T_Container >::findVoxel	(	T	x,
		T	y,
		T	z
	)

Returns a voxel iterator.

Parameters

x	X coordinate
y	Y coordinate
z	Z coordinate

Returns: iterator

◆ findVoxelNode()

template<class T_Container >

template<typename T >

VoxelNode<T_Container>* voxomap::VoxelOctree< T_Container >::findVoxelNode	(	T	x,
		T	y,
		T	z
	)		const

Returns a node, can be NULL.

Parameters

x	X coordinate
y	Y coordinate
z	Z coordinate

Returns: The node which contain the voxel, can be NULL

◆ addVoxel()

template<class T_Container >

template<typename T , typename... Args>

std::pair<iterator, bool> voxomap::VoxelOctree< T_Container >::addVoxel	(	T	x,
		T	y,
		T	z,
		Args &&...	args
	)

Add the voxel if not exist.

Parameters

x	X coordinate
y	Y coordinate
z	Z coordinate
args	Arguments forward to VoxelData constructor

Returns: Returns a pair consisting of an iterator to the inserted element, or the already-existing element if no insertion happened, and a bool denoting whether the insertion took place (true if insertion happened, false if it did not).

◆ updateVoxel() [1/2]

template<class T_Container >

template<typename T , typename... Args>

iterator voxomap::VoxelOctree< T_Container >::updateVoxel	(	T	x,
		T	y,
		T	z,
		Args &&...	args
	)

Update the voxel if already exist.

Parameters

x	X coordinate
y	Y coordinate
z	Z coordinate
args	Arguments forward to VoxelData constructor

Returns: iterator

◆ updateVoxel() [2/2]

template<class T_Container >

template<typename... Args>

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

Update the voxel if already exist.

Parameters

it	Iterator of the voxel to remove
args	Arguments forward to VoxelData constructor

Returns: iterator

◆ putVoxel()

template<class T_Container >

template<typename T , typename... Args>

iterator voxomap::VoxelOctree< T_Container >::putVoxel	(	T	x,
		T	y,
		T	z,
		Args &&...	args
	)

Add or update the voxel.

Parameters

x	X coordinate
y	Y coordinate
z	Z coordinate
args	Arguments forward to VoxelData constructor

Returns: iterator

◆ removeVoxel() [1/2]

template<class T_Container >

template<typename T , typename... Args>

bool voxomap::VoxelOctree< T_Container >::removeVoxel	(	T	x,
		T	y,
		T	z,
		Args &&...	args
	)

Removes a voxel.

Parameters

x	X coordinate
y	Y coordinate
z	Z coordinate
args	Arguments forward to removeVoxel area method

Returns: True if success

◆ removeVoxel() [2/2]

template<class T_Container >

template<typename... Args>

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

Removes a voxel.

Parameters

it	Iterator of the voxel to remove
args	Arguments forward to removeVoxel area method

Returns: True if success

◆ getContainerSize()

template<class T_Container >

unsigned int voxomap::VoxelOctree< T_Container >::getContainerSize ( ) const

Returns the size of containers.

◆ removeOfCache()

template<class T_Container >

void voxomap::VoxelOctree< T_Container >::removeOfCache ( VoxelNode< T_Container > const & node )

Calcul the bounding box.

◆ exploreVoxel()

template<class T_Container >

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

Browse all voxels.

Parameters

predicate Function called for each voxel

◆ exploreVoxelContainer()

template<class T_Container >

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

Browse all voxel containers.

Parameters

predicate Function called for each voxel container

◆ exploreVoxelNode()

template<class T_Container >

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

Browse all voxel nodes.

Parameters

predicate Function called for each voxel node

◆ exploreBoundingBox()

template<class T_Container >

void voxomap::VoxelOctree< 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

◆ getNbVoxels()

template<class T_Container >

unsigned int voxomap::VoxelOctree< T_Container >::getNbVoxels ( ) const

Get the number of voxels.

◆ setNbVoxels()

template<class T_Container >

void voxomap::VoxelOctree< T_Container >::setNbVoxels ( unsigned int nbVoxels )

Set the number of voxels.

Parameters

nbVoxels Number of voxels

◆ begin()

template<class T_Container >

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

Returns an iterator to the first voxel of the octree.

◆ end()

template<class T_Container >

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

Returns an iterator to the element folowing the last voxel of the octree.

◆ serialize()

template<class T_Container >

void voxomap::VoxelOctree< 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::VoxelOctree< 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

◆ _findVoxel() [1/2]

template<class T_Container >

iterator voxomap::VoxelOctree< T_Container >::_findVoxel	(	int	x,
		int	y,
		int	z
	)

private

Method to find voxel (for integer arguments)

Parameters

x	X coordinate of the voxel
y	Y coordinate of the voxel
z	Z coordinate of the voxel

Returns: iterator on the voxel

◆ _findVoxel() [2/2]

template<class T_Container >

template<typename T >

std::enable_if<std::is_floating_point<T>::value, iterator>::type voxomap::VoxelOctree< T_Container >::_findVoxel	(	T	x,
		T	y,
		T	z
	)

private

Method to find voxel (for floating point arguments)

Parameters

x	X coordinate of the voxel
y	Y coordinate of the voxel
z	Z coordinate of the voxel

Returns: iterator on the voxel

◆ _findVoxelNode() [1/2]

template<class T_Container >

VoxelNode<T_Container>* voxomap::VoxelOctree< T_Container >::_findVoxelNode	(	int	x,
		int	y,
		int	z
	)		const

private

Method to find node that contain voxel (for integer arguments)

Parameters

x	X coordinate of the voxel
y	Y coordinate of the voxel
z	Z coordinate of the voxel

Returns: The found node

◆ _findVoxelNode() [2/2]

template<class T_Container >

template<typename T >

std::enable_if<std::is_floating_point<T>::value, VoxelNode<T_Container>*>::type voxomap::VoxelOctree< T_Container >::_findVoxelNode	(	T	x,
		T	y,
		T	z
	)		const

private

Method to find node that contain voxel (for floating point arguments)

Parameters

x	X coordinate of the voxel
y	Y coordinate of the voxel
z	Z coordinate of the voxel

Returns: The found node

◆ pushContainerNode() [1/2]

template<class T_Container >

VoxelNode<T_Container>* voxomap::VoxelOctree< T_Container >::pushContainerNode	(	int	x,
		int	y,
		int	z
	)

protected

Adds the leaf node that contain the voxel container.

Parameters

x	X coordinate of the voxel
y	Y coordinate of the voxel
z	Z coordinate of the voxel

Returns: The added node

◆ pushContainerNode() [2/2]

template<class T_Container >

template<typename T >

std::enable_if<std::is_floating_point<T>::value, VoxelNode<T_Container>*>::type voxomap::VoxelOctree< T_Container >::pushContainerNode	(	T	x,
		T	y,
		T	z
	)

protected

Adds the leaf node that contain the voxel container.

Parameters

x	X coordinate of the voxel
y	Y coordinate of the voxel
z	Z coordinate of the voxel

Returns: The added node

Member Data Documentation

◆ _nodeCache

template<class T_Container >

VoxelNode<T_Container>* voxomap::VoxelOctree< T_Container >::_nodeCache = nullptr

mutableprotected

Cache for improve performance.

Definition at line 273 of file VoxelOctree.hpp.

◆ _nbVoxels

template<class T_Container >

unsigned int voxomap::VoxelOctree< T_Container >::_nbVoxels = 0

protected

Number of voxels.

Definition at line 274 of file VoxelOctree.hpp.

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

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

template<class T_Container> class voxomap::VoxelOctree< T_Container >

Member Typedef Documentation

◆ VoxelData

◆ iterator

Constructor & Destructor Documentation

◆ VoxelOctree() [1/3]

◆ VoxelOctree() [2/3]

◆ VoxelOctree() [3/3]

◆ ~VoxelOctree()

Member Function Documentation

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ push()

◆ pop()

◆ clear()

◆ findVoxel()

◆ findVoxelNode()

◆ addVoxel()

◆ updateVoxel() [1/2]

◆ updateVoxel() [2/2]

◆ putVoxel()

◆ removeVoxel() [1/2]

◆ removeVoxel() [2/2]

◆ getContainerSize()

◆ removeOfCache()

◆ exploreVoxel()

◆ exploreVoxelContainer()

◆ exploreVoxelNode()

◆ exploreBoundingBox()

◆ getNbVoxels()

◆ setNbVoxels()

◆ begin()

◆ end()

◆ serialize()

◆ unserialize()

◆ _findVoxel() [1/2]

◆ _findVoxel() [2/2]

◆ _findVoxelNode() [1/2]

◆ _findVoxelNode() [2/2]

◆ pushContainerNode() [1/2]

◆ pushContainerNode() [2/2]

Member Data Documentation

◆ _nodeCache

◆ _nbVoxels

template<class T_Container>
class voxomap::VoxelOctree< T_Container >