include/octomap/OcTreeDataNode.h

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#ifndef OCTOMAP_OCTREE_DATA_NODE_H
#define OCTOMAP_OCTREE_DATA_NODE_H

// $Id: OcTreeDataNode.h 401 2012-08-03 15:16:39Z ahornung $

/*
 * Copyright (c) 2009, K. M. Wurm, A. Hornung, University of Freiburg
 * All rights reserved.
 *
 * 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.
 */

#include "octomap_types.h"
#include "assert.h"
#include <bitset>

namespace octomap {

  class AbstractOcTreeNode {


  };

  template<typename T> class OcTreeDataNode: public AbstractOcTreeNode {

  public:

    OcTreeDataNode();
    OcTreeDataNode(T initVal);
    OcTreeDataNode(const OcTreeDataNode& rhs);

    ~OcTreeDataNode();

    bool operator==(const OcTreeDataNode& rhs) const;


    // -- children  ----------------------------------


    bool createChild(unsigned int i);

    bool childExists(unsigned int i) const;

    OcTreeDataNode<T>* getChild(unsigned int i);

    const OcTreeDataNode<T>* getChild(unsigned int i) const;

    bool hasChildren() const;

    bool collapsible() const;

    void deleteChild(unsigned int i);

    // -- pruning of children  -----------------------


    bool pruneNode();

    void expandNode();

    T getValue() const{return value;};
    void setValue(T v) {value = v;};

    // file IO:

    std::istream& readValue(std::istream &s);

    std::ostream& writeValue(std::ostream &s) const;


    typedef T DataType;


  protected:
    void allocChildren();

    OcTreeDataNode<T>** children;
    T value;

  };


} // end namespace

#include "octomap/OcTreeDataNode.hxx"

#endif