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octomap::OcTreeLUT Class Reference

Detailed Description

Implements a lookup table that allows to computer keys of neighbor cells directly, see: Samet 1989, "Implementing ray tracing with octrees and neighbor finding".

Definition at line 78 of file OcTreeLUT.h.

#include <mrpt/otherlibs/octomap/OcTreeLUT.h>

Public Types

enum  NeighborDirection {
  W = 0, E, N, S,
  T, B, SW, NW,
  SE, NE, TW, BW,
  TE, BE, TN, TS,
  BN, BS, TNW, TSW,
  TNE, TSE, BNW, BSW,
  BNE, BSE
}
 (N)orth: positive X (S)outh: negative X (W)est : positive Y (E)ast: negative Y (T)op : positive Z (B)ottom: negative Z More...
 

Public Member Functions

 OcTreeLUT (unsigned int _max_depth)
 
 ~OcTreeLUT ()
 
bool genNeighborKey (const OcTreeKey &node_key, const signed char &dir, OcTreeKey &neighbor_key) const
 

Protected Member Functions

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 Attributes

unsigned int max_depth
 
signed char nf_values [8][26]
 
signed char nf_rec_values [8][26]
 
signed char nf_multiple_values [26][4]
 

Member Enumeration Documentation

(N)orth: positive X (S)outh: negative X (W)est : positive Y (E)ast: negative Y (T)op : positive Z (B)ottom: negative Z

Enumerator
SW 
NW 
SE 
NE 
TW 
BW 
TE 
BE 
TN 
TS 
BN 
BS 
TNW 
TSW 
TNE 
TSE 
BNW 
BSW 
BNE 
BSE 

Definition at line 88 of file OcTreeLUT.h.

Constructor & Destructor Documentation

octomap::OcTreeLUT::OcTreeLUT ( unsigned int  _max_depth)
octomap::OcTreeLUT::~OcTreeLUT ( )

Member Function Documentation

void octomap::OcTreeLUT::changeKey ( const int &  val,
OcTreeKey key,
const unsigned short int &  i 
) const
protected
bool octomap::OcTreeLUT::genNeighborKey ( const OcTreeKey node_key,
const signed char &  dir,
OcTreeKey neighbor_key 
) const
unsigned int octomap::OcTreeLUT::genPos ( const OcTreeKey key,
const int &  i 
) const
protected
void octomap::OcTreeLUT::initLUT ( )
protected

Member Data Documentation

unsigned int octomap::OcTreeLUT::max_depth
protected

Definition at line 112 of file OcTreeLUT.h.

signed char octomap::OcTreeLUT::nf_multiple_values[26][4]
protected

Definition at line 116 of file OcTreeLUT.h.

signed char octomap::OcTreeLUT::nf_rec_values[8][26]
protected

Definition at line 115 of file OcTreeLUT.h.

signed char octomap::OcTreeLUT::nf_values[8][26]
protected

Definition at line 114 of file OcTreeLUT.h.




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