/usr/include/octomap/OcTreeDataNode.h is in liboctomap-dev 1.8.1+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_DATA_NODE_H
#define OCTOMAP_OCTREE_DATA_NODE_H
#include "octomap_types.h"
#include "assert.h"
namespace octomap {
class AbstractOcTreeNode {
};
// forward declaration for friend in OcTreeDataNode
template<typename NODE,typename I> class OcTreeBaseImpl;
/**
* Basic node in the OcTree that can hold arbitrary data of type T in value.
* This is the base class for nodes used in an OcTree. The used implementation
* for occupancy mapping is in OcTreeNode.#
* \tparam T data to be stored in the node (e.g. a float for probabilities)
*
* Note: If you derive a class (directly or indirectly) from OcTreeDataNode,
* you have to implement (at least) the following functions to avoid slicing
* errors and memory-related bugs:
* createChild(), getChild(), getChild() const, expandNode()
* See ColorOcTreeNode in ColorOcTree.h for an example.
*/
template<typename T> class OcTreeDataNode: public AbstractOcTreeNode {
template<typename NODE, typename I>
friend class OcTreeBaseImpl;
public:
OcTreeDataNode();
OcTreeDataNode(T initVal);
/// Copy constructor, performs a recursive deep-copy of all children
/// including node data in "value"
OcTreeDataNode(const OcTreeDataNode& rhs);
/// Delete only own members.
/// OcTree maintains tree structure and must have deleted children already
~OcTreeDataNode();
/// Copy the payload (data in "value") from rhs into this node
/// Opposed to copy ctor, this does not clone the children as well
void copyData(const OcTreeDataNode& from);
/// Equals operator, compares if the stored value is identical
bool operator==(const OcTreeDataNode& rhs) const;
// -- children ----------------------------------
/// Test whether the i-th child exists.
/// @deprecated Replaced by tree->nodeChildExists(...)
/// \return true if the i-th child exists
OCTOMAP_DEPRECATED(bool childExists(unsigned int i) const);
/// @deprecated Replaced by tree->nodeHasChildren(...)
/// \return true if the node has at least one child
OCTOMAP_DEPRECATED(bool hasChildren() const);
/// @return value stored in the node
T getValue() const{return value;};
/// sets value to be stored in the node
void setValue(T v) {value = v;};
// file IO:
/// Read node payload (data only) from binary stream
std::istream& readData(std::istream &s);
/// Write node payload (data only) to binary stream
std::ostream& writeData(std::ostream &s) const;
/// Make the templated data type available from the outside
typedef T DataType;
protected:
void allocChildren();
/// pointer to array of children, may be NULL
/// @note The tree class manages this pointer, the array, and the memory for it!
/// The children of a node are always enforced to be the same type as the node
AbstractOcTreeNode** children;
/// stored data (payload)
T value;
};
} // end namespace
#include "octomap/OcTreeDataNode.hxx"
#endif
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