Voxel container used in leaves of the VoxelOctree. Based on a fixed size 3D array, useful for high density of voxels. More...

#include <ArrayContainer.hpp>

Public Types
using	VoxelData = T_Voxel

using	VoxelContainer = ArrayContainer< T_Voxel >

using	iterator = container_iterator< ArrayContainer< T_Voxel > >

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

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

	ArrayContainer (ArrayContainer &&other)=default
	Default move constructor. More...

void	init (VoxelNode< ArrayContainer< VoxelData >> const &)
	Initialization method, do nothing. More...

uint16_t	getNbVoxel () const
	Returns number of voxels. More...

bool	hasVoxel (uint8_t x) const
	Check if there is voxel inside. More...

bool	hasVoxel (uint8_t x, uint8_t y) const
	Check if there is voxel inside. More...

bool	hasVoxel (uint8_t x, uint8_t y, uint8_t z) const
	Check if voxel exist. More...

VoxelData *	findVoxel (uint8_t x, uint8_t y, uint8_t z)
	Find voxel. More...

VoxelData const *	findVoxel (uint8_t x, uint8_t y, uint8_t z) const
	Find voxel. More...

template<typename Iterator >
VoxelData *	findVoxel (Iterator &it)
	Find voxel. More...

template<typename Iterator >
VoxelData const *	findVoxel (Iterator &it) const
	Find voxel. More...

template<typename Iterator , typename... Args>
bool	addVoxel (Iterator &it, Args &&... args)
	Add a voxel, don't update an existing voxel. More...

template<typename Iterator , typename... Args>
bool	updateVoxel (Iterator &it, Args &&... args)
	Update an existing voxel, don't create a new one. More...

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

template<typename Iterator >
bool	removeVoxel (Iterator const &it, VoxelData *voxel=nullptr)
	Remove an existing voxel. More...

template<typename Iterator >
void	exploreVoxel (Iterator &it, std::function< void(Iterator const &)> const &predicate) const
	Go through all voxels of the container and call the predicate for each. More...

void	exploreVoxelContainer (std::function< void(ArrayContainer const &)> const &predicate) const

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

size_t	unserialize (char const *str, size_t size)
	Unserialize str inside this. More...

Public Attributes
uint16_t	nbVoxels = 0
	Number of voxels. More...

union {
VoxelData area [NB_VOXELS][NB_VOXELS][NB_VOXELS]
	Array of voxels. More...

char _
	Compiler hack to avoid the call of the default constructor of each VoxelData of area. More...

};

Static Public Attributes
static const uint32_t	NB_VOXELS = 8

static const uint32_t	COORD_MASK = ~(NB_VOXELS - 1)

static const uint32_t	VOXEL_MASK = NB_VOXELS - 1

static const uint32_t	NB_SUPERCONTAINER = 0

Private Member Functions
template<typename T >
std::enable_if< std::is_trivially_constructible< T >::value >::type	copy (T const &other)
	Method use to copy data when voxel is trivially constructible. More...

template<typename T >
std::enable_if<!std::is_trivially_constructible< T >::value >::type	copy (T const &other)
	Method use to copy data when voxel is not trivially constructible. More...

Static Private Attributes
static const VoxelData	_emptyArea [NB_VOXELS][NB_VOXELS][NB_VOXELS]

Detailed Description

template<class T_Voxel>
struct voxomap::ArrayContainer< T_Voxel >

Voxel container used in leaves of the VoxelOctree. Based on a fixed size 3D array, useful for high density of voxels.

Advantage:
- Good global performances
Disadvantage:
- Big memory footprint (RAM and serialized), same footprint with 1 or 512 voxels.

Definition at line 28 of file ArrayContainer.hpp.

Member Typedef Documentation

◆ VoxelData

template<class T_Voxel >

using voxomap::ArrayContainer< T_Voxel >::VoxelData = T_Voxel

Definition at line 32 of file ArrayContainer.hpp.

◆ VoxelContainer

template<class T_Voxel >

using voxomap::ArrayContainer< T_Voxel >::VoxelContainer = ArrayContainer<T_Voxel>

Definition at line 33 of file ArrayContainer.hpp.

◆ iterator

template<class T_Voxel >

using voxomap::ArrayContainer< T_Voxel >::iterator = container_iterator<ArrayContainer<T_Voxel> >

Definition at line 34 of file ArrayContainer.hpp.

Constructor & Destructor Documentation

◆ ArrayContainer() [1/3]

template<class T_Voxel >

voxomap::ArrayContainer< T_Voxel >::ArrayContainer ( )

Default constructor.

◆ ArrayContainer() [2/3]

template<class T_Voxel >

voxomap::ArrayContainer< T_Voxel >::ArrayContainer ( ArrayContainer< T_Voxel > const & other )

Copy constructor.

◆ ArrayContainer() [3/3]

template<class T_Voxel >

voxomap::ArrayContainer< T_Voxel >::ArrayContainer ( ArrayContainer< T_Voxel > && other )

default

Default move constructor.

Member Function Documentation

◆ init()

template<class T_Voxel >

void voxomap::ArrayContainer< T_Voxel >::init ( VoxelNode< ArrayContainer< VoxelData >> const & )

Initialization method, do nothing.

Definition at line 57 of file ArrayContainer.hpp.

◆ getNbVoxel()

template<class T_Voxel >

uint16_t voxomap::ArrayContainer< T_Voxel >::getNbVoxel ( ) const

Returns number of voxels.

◆ hasVoxel() [1/3]

template<class T_Voxel >

bool voxomap::ArrayContainer< T_Voxel >::hasVoxel ( uint8_t x ) const

Check if there is voxel inside.

Parameters

x X index

Returns: True if there is a voxel

◆ hasVoxel() [2/3]

template<class T_Voxel >

bool voxomap::ArrayContainer< T_Voxel >::hasVoxel	(	uint8_t	x,
		uint8_t	y
	)		const

Check if there is voxel inside.

Parameters

x	X index
y	Y index

Returns: True if there is a voxel

◆ hasVoxel() [3/3]

template<class T_Voxel >

bool voxomap::ArrayContainer< T_Voxel >::hasVoxel	(	uint8_t	x,
		uint8_t	y,
		uint8_t	z
	)		const

Check if voxel exist.

Parameters

x	X index
y	Y index
z	Z index

Returns: True if voxel exist

◆ findVoxel() [1/4]

template<class T_Voxel >

VoxelData* voxomap::ArrayContainer< T_Voxel >::findVoxel	(	uint8_t	x,
		uint8_t	y,
		uint8_t	z
	)

Find voxel.

Parameters

x	X index
y	Y index
z	Z index

Returns: The voxel if exists, otherwise nullptr

◆ findVoxel() [2/4]

template<class T_Voxel >

VoxelData const* voxomap::ArrayContainer< T_Voxel >::findVoxel	(	uint8_t	x,
		uint8_t	y,
		uint8_t	z
	)		const

Find voxel.

Parameters

x	X index
y	Y index
z	Z index

Returns: The voxel if exists, otherwise nullptr

◆ findVoxel() [3/4]

template<class T_Voxel >

template<typename Iterator >

VoxelData* voxomap::ArrayContainer< T_Voxel >::findVoxel ( Iterator & it )

Find voxel.

Parameters

it	The iterator

Returns: The voxel if exists, otherwise nullptr

◆ findVoxel() [4/4]

template<class T_Voxel >

template<typename Iterator >

VoxelData const* voxomap::ArrayContainer< T_Voxel >::findVoxel ( Iterator & it ) const

Find voxel.

Parameters

it	The iterator

Returns: The voxel if exists, otherwise nullptr

◆ addVoxel()

template<class T_Voxel >

template<typename Iterator , typename... Args>

bool voxomap::ArrayContainer< T_Voxel >::addVoxel	(	Iterator &	it,
		Args &&...	args
	)

Add a voxel, don't update an existing voxel.

Parameters

it	Iterator that contains the informations
args	Arguments to forward to voxel constructor

Returns: True if success and update it

◆ updateVoxel()

template<class T_Voxel >

template<typename Iterator , typename... Args>

bool voxomap::ArrayContainer< T_Voxel >::updateVoxel	(	Iterator &	it,
		Args &&...	args
	)

Update an existing voxel, don't create a new one.

Parameters

it	Iterator that contains the informations
args	Arguments to forward to voxel constructor

Returns: True if success

◆ putVoxel()

template<class T_Voxel >

template<typename Iterator , typename... Args>

void voxomap::ArrayContainer< T_Voxel >::putVoxel	(	Iterator &	it,
		Args &&...	args
	)

Add or update a voxel.

Parameters

it	Iterator that contains the informations
args	Arguments to forward to voxel constructor

◆ removeVoxel()

template<class T_Voxel >

template<typename Iterator >

bool voxomap::ArrayContainer< T_Voxel >::removeVoxel	(	Iterator const &	it,
		VoxelData *	voxel = `nullptr`
	)

Remove an existing voxel.

Parameters

it	Iterator that contains the informations
voxel	Pointer on a voxel structure, filled with the data of the removed voxel

Returns: True if success

◆ exploreVoxel()

template<class T_Voxel >

template<typename Iterator >

void voxomap::ArrayContainer< T_Voxel >::exploreVoxel	(	Iterator &	it,
		std::function< void(Iterator const &)> const &	predicate
	)		const

Go through all voxels of the container and call the predicate for each.

Parameters

it	Begin iterator
predicate	Function called for each voxel found

◆ exploreVoxelContainer()

template<class T_Voxel >

void voxomap::ArrayContainer< T_Voxel >::exploreVoxelContainer ( std::function< void(ArrayContainer< T_Voxel > const &)> const & predicate ) const

◆ serialize()

template<class T_Voxel >

void voxomap::ArrayContainer< T_Voxel >::serialize ( std::string & str ) const

Serialize the structure.

Parameters

str	String use for save the serialization

◆ unserialize()

template<class T_Voxel >

size_t voxomap::ArrayContainer< T_Voxel >::unserialize	(	char const *	str,
		size_t	size
	)

Unserialize str inside this.

Parameters

str	String that contains data
size	Size of the string

Returns: Number of bytes read inside str

◆ copy() [1/2]

template<class T_Voxel >

template<typename T >

std::enable_if<std::is_trivially_constructible<T>::value>::type voxomap::ArrayContainer< T_Voxel >::copy ( T const & other )

private

Method use to copy data when voxel is trivially constructible.

◆ copy() [2/2]

template<class T_Voxel >

template<typename T >

std::enable_if<!std::is_trivially_constructible<T>::value>::type voxomap::ArrayContainer< T_Voxel >::copy ( T const & other )

private

Method use to copy data when voxel is not trivially constructible.

Member Data Documentation

◆ NB_VOXELS

template<class T_Voxel >

const uint32_t voxomap::ArrayContainer< T_Voxel >::NB_VOXELS = 8

static

Definition at line 36 of file ArrayContainer.hpp.

◆ COORD_MASK

template<class T_Voxel >

const uint32_t voxomap::ArrayContainer< T_Voxel >::COORD_MASK = ~(NB_VOXELS - 1)

static

Definition at line 37 of file ArrayContainer.hpp.

◆ VOXEL_MASK

template<class T_Voxel >

const uint32_t voxomap::ArrayContainer< T_Voxel >::VOXEL_MASK = NB_VOXELS - 1

static

Definition at line 38 of file ArrayContainer.hpp.

◆ NB_SUPERCONTAINER

template<class T_Voxel >

const uint32_t voxomap::ArrayContainer< T_Voxel >::NB_SUPERCONTAINER = 0

static

Definition at line 39 of file ArrayContainer.hpp.

◆ nbVoxels

template<class T_Voxel >

uint16_t voxomap::ArrayContainer< T_Voxel >::nbVoxels = 0

Number of voxels.

Definition at line 171 of file ArrayContainer.hpp.

◆ area

template<class T_Voxel >

VoxelData voxomap::ArrayContainer< T_Voxel >::area[NB_VOXELS][NB_VOXELS][NB_VOXELS]

Array of voxels.

Definition at line 173 of file ArrayContainer.hpp.

◆ _

template<class T_Voxel >

char voxomap::ArrayContainer< T_Voxel >::_

Compiler hack to avoid the call of the default constructor of each VoxelData of area.

Definition at line 174 of file ArrayContainer.hpp.

◆ @1

union { ... }

◆ _emptyArea

template<class T_Voxel >

const VoxelData voxomap::ArrayContainer< T_Voxel >::_emptyArea[NB_VOXELS][NB_VOXELS][NB_VOXELS]

staticprivate

Used for initialize ArrayContainer::area attribute without call constructor on each VoxelData of array

Definition at line 192 of file ArrayContainer.hpp.

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

C:/Users/micce/projects/voxomap/voxel_octree/VoxelContainer/ArrayContainer.hpp

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Private Member Functions

Static Private Attributes

Detailed Description

template<class T_Voxel> struct voxomap::ArrayContainer< T_Voxel >

Member Typedef Documentation

◆ VoxelData

◆ VoxelContainer

◆ iterator

Constructor & Destructor Documentation

◆ ArrayContainer() [1/3]

◆ ArrayContainer() [2/3]

◆ ArrayContainer() [3/3]

Member Function Documentation

◆ init()

◆ getNbVoxel()

◆ hasVoxel() [1/3]

◆ hasVoxel() [2/3]

◆ hasVoxel() [3/3]

◆ findVoxel() [1/4]

◆ findVoxel() [2/4]

◆ findVoxel() [3/4]

◆ findVoxel() [4/4]

◆ addVoxel()

◆ updateVoxel()

◆ putVoxel()

◆ removeVoxel()

◆ exploreVoxel()

◆ exploreVoxelContainer()

◆ serialize()

◆ unserialize()

◆ copy() [1/2]

◆ copy() [2/2]

Member Data Documentation

◆ NB_VOXELS

◆ COORD_MASK

◆ VOXEL_MASK

◆ NB_SUPERCONTAINER

◆ nbVoxels

◆ area

◆ _

◆ @1

◆ _emptyArea

template<class T_Voxel>
struct voxomap::ArrayContainer< T_Voxel >