visitor.hpp

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/*
 * SPDX-FileCopyrightText: 2016-2019 Emanuele Vespa
 * SPDX-FileCopyrightText: 2019-2023 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2019-2023 Nils Funk
 * SPDX-FileCopyrightText: 2021-2023 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */

#ifndef SE_VISITOR_HPP
#define SE_VISITOR_HPP

#include <optional>

#include "octree.hpp"
#include "se/map/data.hpp"
#include "se/map/octree/allocator.hpp"
#include "se/map/octree/fetcher.hpp"

namespace se {
namespace visitor {




template<typename OctreeT>
inline typename OctreeT::DataType getData(const OctreeT& octree,
                                          const Eigen::Vector3i& voxel_coord);

template<typename OctreeT, typename BlockT>
inline typename OctreeT::DataType
getData(const OctreeT& octree, BlockT* block_ptr, const Eigen::Vector3i& voxel_coord);




template<typename OctreeT>
inline typename std::enable_if_t<OctreeT::res_ == se::Res::Multi, typename OctreeT::DataType>
getData(const OctreeT& octree,
        const Eigen::Vector3i& voxel_coord,
        const int scale_desired,
        int& scale_returned);

template<typename OctreeT, typename BlockT>
inline typename std::enable_if_t<OctreeT::res_ == se::Res::Multi, typename OctreeT::DataType>
getData(const OctreeT& octree,
        BlockT* block_ptr,
        const Eigen::Vector3i& voxel_coord,
        const int scale_desired,
        int& scale_returned);

template<typename OctreeT>
inline typename std::enable_if_t<OctreeT::DataType::fld_ == se::Field::Occupancy,
                                 typename OctreeT::DataType>
getMaxData(const OctreeT& octree, const Eigen::Vector3i& voxel_coord, const int scale_desired);

// TODO: Reduce getField functions for single and multi-res to one


template<typename OctreeT>
inline std::optional<se::field_t> getField(const OctreeT& octree,
                                           const Eigen::Vector3i& voxel_coord);

template<typename OctreeT, typename BlockT>
inline std::optional<se::field_t>
getField(const OctreeT& octree, BlockT* block_ptr, const Eigen::Vector3i& voxel_coord);




template<typename OctreeT>
inline typename std::enable_if_t<OctreeT::res_ == se::Res::Multi, std::optional<se::field_t>>
getField(const OctreeT& octree,
         const Eigen::Vector3i& voxel_coord,
         const int scale_desired,
         int& scale_returned);

template<typename OctreeT, typename BlockT>
inline typename std::enable_if_t<OctreeT::res_ == se::Res::Multi, std::optional<se::field_t>>
getField(const OctreeT& octree,
         BlockT* block_ptr,
         const Eigen::Vector3i& voxel_coord,
         const int scale_desired,
         int& scale_returned);




template<typename OctreeT>
inline typename std::enable_if_t<OctreeT::res_ == se::Res::Single, std::optional<se::field_t>>
getFieldInterp(const OctreeT& octree, const Eigen::Vector3f& voxel_coord_f);




template<typename OctreeT>
inline typename std::enable_if_t<OctreeT::res_ == se::Res::Multi, std::optional<se::field_t>>
getFieldInterp(const OctreeT& octree, const Eigen::Vector3f& voxel_coord_f);

template<typename OctreeT>
inline typename std::enable_if_t<OctreeT::res_ == se::Res::Multi, std::optional<se::field_t>>
getFieldInterp(const OctreeT& octree, const Eigen::Vector3f& voxel_coord_f, int& scale_returned);

template<typename OctreeT>
inline
    typename std::enable_if_t<(OctreeT::fld_ == se::Field::TSDF && OctreeT::res_ == se::Res::Multi),
                              std::optional<se::field_t>>
    getFieldInterp(const OctreeT& octree,
                   const Eigen::Vector3f& voxel_coord_f,
                   const int scale_desired,
                   int& scale_returned);

template<typename OctreeT>
inline typename std::enable_if_t<OctreeT::fld_ == se::Field::Occupancy
                                     && OctreeT::res_ == se::Res::Multi,
                                 std::optional<se::field_t>>
getFieldInterp(const OctreeT& octree,
               const Eigen::Vector3f& voxel_coord_f,
               const int scale_desired,
               int& scale_returned);




template<typename OctreeT>
inline typename std::enable_if_t<OctreeT::res_ == se::Res::Single, std::optional<se::field_vec_t>>
getFieldGrad(const OctreeT& octree, const Eigen::Vector3f& voxel_coord_f);




template<typename OctreeT>
inline typename std::enable_if_t<OctreeT::res_ == se::Res::Multi, std::optional<se::field_vec_t>>
getFieldGrad(const OctreeT& octree, const Eigen::Vector3f& voxel_coord_f);

template<typename OctreeT>
inline typename std::enable_if_t<OctreeT::res_ == se::Res::Multi, std::optional<se::field_vec_t>>
getFieldGrad(const OctreeT& octree, const Eigen::Vector3f& voxel_coord_f, int& scale_returned);

template<typename OctreeT>
inline typename std::enable_if_t<OctreeT::res_ == se::Res::Multi, std::optional<se::field_vec_t>>
getFieldGrad(const OctreeT& octree,
             const Eigen::Vector3f& voxel_coord_f,
             const int scale_desired,
             int& scale_returned);

} // namespace visitor
} // namespace se

#include "impl/visitor_impl.hpp"

#endif // SE_VISITOR_HPP