example_array_area.cpp

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#include <iostream>
#include "voxel_octree/VoxelOctree.hpp"
#include "voxel_octree/ArrayArea.hpp"
 
// First, we begin by define a user data structure (voxel data)
struct UserData
{
    // Constructor
    UserData(int value = 0) : value(value)
    {
    }
 
    // Bool operator used by ArrayArea to determine if the voxel is empty or not
    operator bool() const
    {
        return value != 0;
    }
 
    // Attribute of the voxel
    int64_t value = 0;
};
 
void main()
{
    // Create the voxel container
    // Use ArrayArea as voxel leaf structure
    voxomap::VoxelOctree<voxomap::ArrayArea<UserData>> voxel_octree;
 
    // Add a voxel at position 0, 0, 0 with value 42
    voxel_octree.addVoxel(0, 0, 0, 42);
 
    // Update value of voxel at position 0, 0, 0 with value 43
    voxel_octree.updateVoxel(0, 0, 0, 43);
 
    // Declare iterator
    voxomap::VoxelOctree<voxomap::ArrayArea<UserData>>::iterator it;
 
    // Get iterator on voxel at position 0, 0, 0
    it = voxel_octree.findVoxel(0, 0, 0);
 
    if (it)
    {
        // Get the node where the voxel is
        voxomap::VoxelNode<voxomap::ArrayArea<UserData>>* node;
        node = it.node;
 
        // Get the voxel area where the voxel is
        voxomap::ArrayArea<UserData>* area = it.getArea();
 
        // Write the internal position of the voxel is inside the node and its value
        std::cout << "x: " << int(it.x) << " y: " << int(it.y) << " z: " << int(it.z) << " value: " << it.voxel->value << std::endl;
    }
 
    // Remove voxel at position 0, 0, 0
    voxel_octree.removeVoxel(0, 0, 0);
}