allocator.hpp

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/*
 * SPDX-FileCopyrightText: 2016-2019 Emanuele Vespa
 * SPDX-FileCopyrightText: 2020-2023 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2020-2023 Nils Funk
 * SPDX-FileCopyrightText: 2021-2023 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */

#ifndef SE_ALLOCATOR_HPP
#define SE_ALLOCATOR_HPP

#include <Eigen/StdVector>
#include <set>

#include "octree.hpp"
#include "se/map/utils/type_util.hpp"

namespace se {
namespace allocator {

template<typename OctreeT>
inline se::OctantBase*
block(const Eigen::Vector3i& voxel_coord, OctreeT& octree, se::OctantBase* base_parent_ptr);

template<typename OctreeT>
inline se::OctantBase*
block(const se::key_t voxel_key, OctreeT& octree, se::OctantBase* base_parent_ptr);

template<typename OctreeT>
std::vector<se::OctantBase*>
blocks(const std::vector<Eigen::Vector3i, Eigen::aligned_allocator<Eigen::Vector3i>>& voxel_coords,
       OctreeT& octree,
       se::OctantBase* base_parent_ptr,
       const bool only_allocated = false);

template<typename OctreeT>
std::vector<se::OctantBase*> blocks(std::vector<se::key_t>& voxel_keys,
                                    OctreeT& octree,
                                    se::OctantBase* base_parent_ptr,
                                    const bool only_allocated = false);

namespace detail {


template<typename OctreeT>
inline bool allocate_key(const se::key_t key,
                         OctreeT& octree,
                         se::OctantBase* base_parent_ptr,
                         se::OctantBase*& allocated_octant);



} // namespace detail
} // namespace allocator
} // namespace se

#include "impl/allocator_impl.hpp"

#endif // SE_ALLOCATOR_HPP