/usr/include/octomap/OcTreeLUT.h is in liboctomap-dev 1.6.8+dfsg-1.
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* OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
* http://octomap.github.com/
*
* Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
* All rights reserved.
* License: New BSD
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the University of Freiburg nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef OCTOMAP_OCTREE_LUT_H
#define OCTOMAP_OCTREE_LUT_H
#include "OcTreeLUTdefs.h"
#include "octomap_types.h"
#include "OcTreeKey.h"
namespace octomap {
//! comparator for keys
struct equal_keys {
bool operator() (const unsigned short int* key1, const unsigned short int* key2) const {
return ((key1[0]==key2[0]) && (key1[1] == key2[1]) && (key1[2] == key2[2]));
}
};
struct hash_key {
unsigned short int operator()(const unsigned short int* key) const {
return (((31 + key[0]) * 31 + key[1]) * 31 + key[2]);
}
};
/**
* Implements a lookup table that allows to computer keys of neighbor cells directly,
* see: Samet 1989, "Implementing ray tracing with octrees and neighbor finding"
*/
class OcTreeLUT {
public:
/**
* (N)orth: positive X (S)outh: negative X
* (W)est : positive Y (E)ast: negative Y
* (T)op : positive Z (B)ottom: negative Z
*/
typedef enum {
W = 0, E, N, S , T , B, // face neighbors
SW, NW, SE, NE, TW, BW, TE, BE, TN, TS, BN, BS, // edge neighbors
TNW, TSW, TNE, TSE, BNW, BSW, BNE, BSE // vertex neighbors
} NeighborDirection;
public:
OcTreeLUT(unsigned int _max_depth);
~OcTreeLUT();
bool genNeighborKey(const OcTreeKey& node_key, const signed char& dir,
OcTreeKey& neighbor_key) const;
protected:
void initLUT();
unsigned int genPos(const OcTreeKey& key, const int& i) const;
void changeKey(const int& val, OcTreeKey& key, const unsigned short int& i) const;
protected:
unsigned int max_depth;
signed char nf_values[8][26];
signed char nf_rec_values[8][26];
signed char nf_multiple_values[26][4];
};
} // namespace
#endif
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