Super container used in leaves of the VoxelOctree. Mix between a fixed size 3D array (like in ArraySuperContainer) and a dynamic array. Useful for little density of sub-containers. More...

#include <SparseSuperContainer.hpp>

Public Types
using	Container = T_Container

using	VoxelData = typename Container::VoxelData

using	VoxelContainer = typename Container::VoxelContainer

using	iterator = supercontainer_iterator< SparseSuperContainer< Container, T_InternalContainer > >

Public Member Functions
	SparseSuperContainer ()=default
	Default constructor. More...

	SparseSuperContainer (SparseSuperContainer const &other)=default
	Default Copy constructor. More...

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

	~SparseSuperContainer ()=default
	Default destructor. More...

void	init (VoxelNode< SparseSuperContainer< Container, T_InternalContainer >> const &)
	Initialization method, do nothing. More...

uint32_t	getNbVoxel () const
	Returns number of voxels. More...

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

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

bool	hasContainer (uint8_t x) const
	Check if there is sub-container. More...

bool	hasContainer (uint8_t x, uint8_t y) const
	Check if there is sub-container. More...

bool	hasContainer (uint8_t x, uint8_t y, uint8_t z) const
	Check if there is sub-container. More...

Container *	findContainer (uint8_t x, uint8_t y, uint8_t z)
	Find sub-container. More...

Container const *	findContainer (uint8_t x, uint8_t y, uint8_t z) const
	Find sub-container. 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 , typename... Args>
bool	removeVoxel (Iterator const &it, Args &&... args)
	Remove an existing voxel. More...

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

size_t	unserialize (char const *str, size_t size)
	Unserialize str inside this. 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(typename T_Container::VoxelContainer const &)> const &predicate) const

Static Public Attributes
static const uint32_t	NB_CONTAINERS = 8

static const uint32_t	CONTAINER_MASK = NB_CONTAINERS - 1

static const uint32_t	NB_VOXELS = NB_CONTAINERS * Container::NB_VOXELS

static const uint32_t	COORD_MASK = ~(NB_VOXELS - 1)

static const uint32_t	VOXEL_MASK = Container::VOXEL_MASK

static const uint32_t	NB_SUPERCONTAINER = 1 + Container::NB_SUPERCONTAINER

static const uint32_t	SUPERCONTAINER_ID = NB_SUPERCONTAINER - 1

Private Attributes
SparseIDArray< std::unique_ptr< Container >, NB_CONTAINERS, T_InternalContainer >	_sparseArray

uint32_t	_nbVoxels = 0
	Number of voxels. More...

Detailed Description

template<class T_Container, template< class... > class T_InternalContainer = std::vector>
class voxomap::SparseSuperContainer< T_Container, T_InternalContainer >

Super container used in leaves of the VoxelOctree. Mix between a fixed size 3D array (like in ArraySuperContainer) and a dynamic array. Useful for little density of sub-containers.

Advantages:
- Good access/update performance (~= ArraySuperContainer)
- Small memory footprint
Disadvantages:
- Less performant on add/remove than the ArraySuperContainer
- Bigger memory footprint than the ArraySuperContainer when high density

The container uses 3 arrays:

A dynamic vector that contains the super/voxel sub-containers
A fixed size array (like ArraySuperContainer) that contains the sub-container id inside the above vector, 0 if there is no sub-container
A dynamic vector that contains the unused sub-container inside the first vector. Due to performance issue, the removed sub-container pointer are not removed from the first vector.

Definition at line 41 of file SparseSuperContainer.hpp.

Member Typedef Documentation

◆ Container

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

using voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::Container = T_Container

Definition at line 43 of file SparseSuperContainer.hpp.

◆ VoxelData

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

using voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::VoxelData = typename Container::VoxelData

Definition at line 44 of file SparseSuperContainer.hpp.

◆ VoxelContainer

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

using voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::VoxelContainer = typename Container::VoxelContainer

Definition at line 45 of file SparseSuperContainer.hpp.

◆ iterator

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

using voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::iterator = supercontainer_iterator<SparseSuperContainer<Container, T_InternalContainer> >

Definition at line 46 of file SparseSuperContainer.hpp.

Constructor & Destructor Documentation

◆ SparseSuperContainer() [1/3]

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::SparseSuperContainer ( )

default

Default constructor.

◆ SparseSuperContainer() [2/3]

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::SparseSuperContainer ( SparseSuperContainer< T_Container, T_InternalContainer > const & other )

default

Default Copy constructor.

◆ SparseSuperContainer() [3/3]

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::SparseSuperContainer ( SparseSuperContainer< T_Container, T_InternalContainer > && other )

default

Default move constructor.

◆ ~SparseSuperContainer()

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::~SparseSuperContainer ( )

default

Default destructor.

Member Function Documentation

◆ init()

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

void voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::init ( VoxelNode< SparseSuperContainer< Container, T_InternalContainer >> const & )

Initialization method, do nothing.

Definition at line 77 of file SparseSuperContainer.hpp.

◆ getNbVoxel()

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

uint32_t voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::getNbVoxel ( ) const

Returns number of voxels.

◆ findVoxel() [1/2]

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

template<typename Iterator >

VoxelData* voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::findVoxel ( Iterator & it )

Find voxel.

Parameters

it	Iterator containing voxel position information

Returns: The voxel if exists, otherwise nullptr

◆ findVoxel() [2/2]

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

template<typename Iterator >

VoxelData const* voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::findVoxel ( Iterator & it ) const

Find voxel.

Parameters

it	Iterator containing voxel position information

Returns: The voxel if exists, otherwise nullptr

◆ hasContainer() [1/3]

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

bool voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::hasContainer ( uint8_t x ) const

Check if there is sub-container.

Parameters

x X index

Returns: True if there is sub-container

◆ hasContainer() [2/3]

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

bool voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::hasContainer	(	uint8_t	x,
		uint8_t	y
	)		const

Check if there is sub-container.

Parameters

x	X index
y	Y index

Returns: True if there is sub-container

◆ hasContainer() [3/3]

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

bool voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::hasContainer	(	uint8_t	x,
		uint8_t	y,
		uint8_t	z
	)		const

Check if there is sub-container.

Parameters

x	X index
y	Y index
z	Z index

Returns: True if there is sub-container

◆ findContainer() [1/2]

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

Container* voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::findContainer	(	uint8_t	x,
		uint8_t	y,
		uint8_t	z
	)

Find sub-container.

Parameters

x	X index
y	Y index
z	Z index

Returns: Pointer on the sub-container if exists, otherwise nullptr

◆ findContainer() [2/2]

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

Container const* voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::findContainer	(	uint8_t	x,
		uint8_t	y,
		uint8_t	z
	)		const

Find sub-container.

Parameters

x	X index
y	Y index
z	Z index

Returns: Pointer on the sub-container if exists, otherwise nullptr

◆ addVoxel()

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

template<typename Iterator , typename... Args>

bool voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::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_Container , template< class... > class T_InternalContainer = std::vector>

template<typename Iterator , typename... Args>

bool voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::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_Container , template< class... > class T_InternalContainer = std::vector>

template<typename Iterator , typename... Args>

void voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::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_Container , template< class... > class T_InternalContainer = std::vector>

template<typename Iterator , typename... Args>

bool voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::removeVoxel	(	Iterator const &	it,
		Args &&...	args
	)

Remove an existing voxel.

Parameters

it	Iterator that contains the informations
args	Arguments to forward to removeVoxel method of the container

Returns: True if success

◆ serialize()

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

void voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::serialize ( std::string & str ) const

Serialize the structure.

Parameters

str	String use for save the serialization

◆ unserialize()

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

size_t voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::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

◆ exploreVoxel()

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

template<typename Iterator >

void voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::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_Container , template< class... > class T_InternalContainer = std::vector>

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

Member Data Documentation

◆ NB_CONTAINERS

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

const uint32_t voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::NB_CONTAINERS = 8

static

Definition at line 48 of file SparseSuperContainer.hpp.

◆ CONTAINER_MASK

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

const uint32_t voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::CONTAINER_MASK = NB_CONTAINERS - 1

static

Definition at line 49 of file SparseSuperContainer.hpp.

◆ NB_VOXELS

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

const uint32_t voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::NB_VOXELS = NB_CONTAINERS * Container::NB_VOXELS

static

Definition at line 50 of file SparseSuperContainer.hpp.

◆ COORD_MASK

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

const uint32_t voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::COORD_MASK = ~(NB_VOXELS - 1)

static

Definition at line 51 of file SparseSuperContainer.hpp.

◆ VOXEL_MASK

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

const uint32_t voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::VOXEL_MASK = Container::VOXEL_MASK

static

Definition at line 52 of file SparseSuperContainer.hpp.

◆ NB_SUPERCONTAINER

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

const uint32_t voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::NB_SUPERCONTAINER = 1 + Container::NB_SUPERCONTAINER

static

Definition at line 53 of file SparseSuperContainer.hpp.

◆ SUPERCONTAINER_ID

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

const uint32_t voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::SUPERCONTAINER_ID = NB_SUPERCONTAINER - 1

static

Definition at line 54 of file SparseSuperContainer.hpp.

◆ _sparseArray

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

SparseIDArray<std::unique_ptr<Container>, NB_CONTAINERS, T_InternalContainer> voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::_sparseArray

private

Definition at line 191 of file SparseSuperContainer.hpp.

◆ _nbVoxels

template<class T_Container , template< class... > class T_InternalContainer = std::vector>

uint32_t voxomap::SparseSuperContainer< T_Container, T_InternalContainer >::_nbVoxels = 0

private

Number of voxels.

Definition at line 192 of file SparseSuperContainer.hpp.

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

C:/Users/micce/projects/voxomap/voxel_octree/SuperContainer/SparseSuperContainer.hpp

Public Types

Public Member Functions

Static Public Attributes

Private Attributes

Detailed Description

template<class T_Container, template< class... > class T_InternalContainer = std::vector> class voxomap::SparseSuperContainer< T_Container, T_InternalContainer >

Member Typedef Documentation

◆ Container

◆ VoxelData

◆ VoxelContainer

◆ iterator

Constructor & Destructor Documentation

◆ SparseSuperContainer() [1/3]

◆ SparseSuperContainer() [2/3]

◆ SparseSuperContainer() [3/3]

◆ ~SparseSuperContainer()

Member Function Documentation

◆ init()

◆ getNbVoxel()

◆ findVoxel() [1/2]

◆ findVoxel() [2/2]

◆ hasContainer() [1/3]

◆ hasContainer() [2/3]

◆ hasContainer() [3/3]

◆ findContainer() [1/2]

◆ findContainer() [2/2]

◆ addVoxel()

◆ updateVoxel()

◆ putVoxel()

◆ removeVoxel()

◆ serialize()

◆ unserialize()

◆ exploreVoxel()

◆ exploreVoxelContainer()

Member Data Documentation

◆ NB_CONTAINERS

◆ CONTAINER_MASK

◆ NB_VOXELS

◆ COORD_MASK

◆ VOXEL_MASK

◆ NB_SUPERCONTAINER

◆ SUPERCONTAINER_ID

◆ _sparseArray

◆ _nbVoxels

template<class T_Container, template< class... > class T_InternalContainer = std::vector>
class voxomap::SparseSuperContainer< T_Container, T_InternalContainer >