octomap 1.5.0
Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
octomap::OcTreeLUT Class Reference

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

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

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

Protected Member Functions

void changeKey (const int &val, OcTreeKey &key, const unsigned short int &i) const
unsigned int genPos (const OcTreeKey &key, const int &i) const
void initLUT ()

Protected Attributes

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

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".

Member Enumeration Documentation

enum octomap::OcTreeLUT::NeighborDirection

(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:
W 
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 

Constructor & Destructor Documentation

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

References initLUT().

octomap::OcTreeLUT::~OcTreeLUT ( )

Member Function Documentation

void octomap::OcTreeLUT::changeKey ( const int &  val,
OcTreeKey &  key,
const unsigned short int &  i 
) const [protected]

References octomap::OcTreeKey::k.

Referenced by genNeighborKey().

bool octomap::OcTreeLUT::genNeighborKey ( const OcTreeKey &  node_key,
const signed char &  dir,
OcTreeKey &  neighbor_key 
) const

References changeKey(), genPos(), octomap::OcTreeKey::k, LUT_NO_REC, max_depth, nf_rec_values, and nf_values.

Referenced by main().

unsigned int octomap::OcTreeLUT::genPos ( const OcTreeKey &  key,
const int &  i 
) const [protected]

References octomap::OcTreeKey::k.

Referenced by genNeighborKey().

void octomap::OcTreeLUT::initLUT ( ) [protected]

References LUT_E, LUT_F, LUT_FE, LUT_FE_TO_E, LUT_FE_TO_F, LUT_FN, LUT_FN_TO_F, LUT_FN_TO_N, LUT_FNE, LUT_FNE_TO_E, LUT_FNE_TO_F, LUT_FNE_TO_FE, LUT_FNE_TO_FN, LUT_FNE_TO_N, LUT_FNE_TO_NE, LUT_FNW, LUT_FNW_TO_F, LUT_FNW_TO_FN, LUT_FNW_TO_FW, LUT_FNW_TO_N, LUT_FNW_TO_NW, LUT_FNW_TO_W, LUT_FS, LUT_FS_TO_F, LUT_FS_TO_S, LUT_FSE, LUT_FSE_TO_E, LUT_FSE_TO_F, LUT_FSE_TO_FE, LUT_FSE_TO_FS, LUT_FSE_TO_S, LUT_FSE_TO_SE, LUT_FSW, LUT_FSW_TO_F, LUT_FSW_TO_FS, LUT_FSW_TO_FW, LUT_FSW_TO_S, LUT_FSW_TO_SW, LUT_FSW_TO_W, LUT_FW, LUT_FW_TO_F, LUT_FW_TO_W, LUT_N, LUT_NE, LUT_NE_TO_E, LUT_NE_TO_N, LUT_NO_REC, LUT_NW, LUT_NW_TO_N, LUT_NW_TO_W, LUT_R, LUT_RE, LUT_RE_TO_E, LUT_RE_TO_R, LUT_RN, LUT_RN_TO_N, LUT_RN_TO_R, LUT_RNE, LUT_RNE_TO_E, LUT_RNE_TO_N, LUT_RNE_TO_NE, LUT_RNE_TO_R, LUT_RNE_TO_RE, LUT_RNE_TO_RN, LUT_RNW, LUT_RNW_TO_N, LUT_RNW_TO_NW, LUT_RNW_TO_R, LUT_RNW_TO_RN, LUT_RNW_TO_RW, LUT_RNW_TO_W, LUT_RS, LUT_RS_TO_R, LUT_RS_TO_S, LUT_RSE, LUT_RSE_TO_E, LUT_RSE_TO_R, LUT_RSE_TO_RE, LUT_RSE_TO_RS, LUT_RSE_TO_S, LUT_RSE_TO_SE, LUT_RSW, LUT_RSW_TO_R, LUT_RSW_TO_RS, LUT_RSW_TO_RW, LUT_RSW_TO_S, LUT_RSW_TO_SW, LUT_RSW_TO_W, LUT_RW, LUT_RW_TO_R, LUT_RW_TO_W, LUT_S, LUT_SE, LUT_SE_TO_E, LUT_SE_TO_S, LUT_SELF, LUT_SW, LUT_SW_TO_S, LUT_SW_TO_W, LUT_W, nf_multiple_values, nf_rec_values, and nf_values.

Referenced by OcTreeLUT().

Field Documentation

unsigned int octomap::OcTreeLUT::max_depth [protected]

Referenced by genNeighborKey().

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

Referenced by initLUT().

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

Referenced by genNeighborKey(), and initLUT().

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

Referenced by genNeighborKey(), and initLUT().

The documentation for this class was generated from the following files: