octomap 1.5.0
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00001 #ifndef OCTOMAP_OCTREE_BASE_H 00002 #define OCTOMAP_OCTREE_BASE_H 00003 00004 // $Id: OcTreeBase.h 402 2012-08-06 13:39:42Z ahornung $ 00005 00014 /* 00015 * Copyright (c) 2009-2011, K. M. Wurm, A. Hornung, University of Freiburg 00016 * All rights reserved. 00017 * 00018 * Redistribution and use in source and binary forms, with or without 00019 * modification, are permitted provided that the following conditions are met: 00020 * 00021 * * Redistributions of source code must retain the above copyright 00022 * notice, this list of conditions and the following disclaimer. 00023 * * Redistributions in binary form must reproduce the above copyright 00024 * notice, this list of conditions and the following disclaimer in the 00025 * documentation and/or other materials provided with the distribution. 00026 * * Neither the name of the University of Freiburg nor the names of its 00027 * contributors may be used to endorse or promote products derived from 00028 * this software without specific prior written permission. 00029 * 00030 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00031 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00032 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00033 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00034 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00035 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00036 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00037 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00038 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00039 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00040 * POSSIBILITY OF SUCH DAMAGE. 00041 */ 00042 00043 #include "OcTreeBaseImpl.h" 00044 #include "AbstractOcTree.h" 00045 00046 00047 namespace octomap { 00048 template <class NODE> 00049 class OcTreeBase : public OcTreeBaseImpl<NODE,AbstractOcTree> { 00050 public: 00051 OcTreeBase<NODE>(double res) : OcTreeBaseImpl<NODE,AbstractOcTree>(res) {}; 00052 00055 OcTreeBase<NODE>* create() const {return new OcTreeBase<NODE>(this->resolution); } 00056 std::string getTreeType() const {return "OcTreeBase";} 00057 }; 00058 00059 }; 00060 00061 00062 #endif