se::Node< DataT, ResT > Class Template Reference

The node type of the octant. More...

#include <block.hpp>

Inheritance diagram for se::Node< DataT, ResT >:

Public Types
typedef DataT	DataType

Public Member Functions
	Node (const Eigen::Vector3i &coord, const int size, const DataT init_data)
	Setup a node via its voxel coordinates and size. More...
	Node (Node *parent_ptr, const int child_idx, const DataT init_data)
	Setup a node via its parent and child index. More...
int	getSize () const
	Get the size in [voxel] of the node. More...
const se::OctantBase *	getChild (const int child_idx) const
	Get the pointer to one of the children of the node. More...
se::OctantBase *	getChild (const int child_idx)
	Get the pointer to one of the children of the node. More...
se::OctantBase *	setChild (const int child_idx, se::OctantBase *child_ptr)
	Set the pointer of one of the children of the node. More...
Public Member Functions inherited from se::OctantBase
	OctantBase (const bool is_block, const Eigen::Vector3i &coord, OctantBase *parent_ptr=nullptr)
	Setup a octant via its parent. More...
bool	isBlock () const
	Verify if an octant is a block. More...
Eigen::Vector3i	getCoord () const
	Get the voxel coordinates of the octant. More...
const se::OctantBase *	getParent () const
	Get the parent pointer of the octant. More...
se::OctantBase *	getParent ()
int	getTimeStamp () const
	Get the time stamp of an octant. More...
void	setTimeStamp (const int time_stamp)
	Set the time stamp of an octant. More...
bool	getActive () const
	Get the active state of an octant. More...
void	setActive (bool is_active)
	Set the active state of an octant. More...
unsigned int	getChildrenMask () const
void	clearChildrenMask ()
	Clear the children mask. More...

Additional Inherited Members
Protected Attributes inherited from se::OctantBase
const bool	is_block_
OctantBase *	parent_ptr_
	Every node/block (other than root) needs a parent. More...
const Eigen::Vector3i	coord_
	The coordinates of the block (left, front , bottom corner) More...
int	time_stamp_
	The frame of the last update. More...
bool	is_active_
	The active state of the octant. More...
unsigned int	children_mask_
	The allocated children. More...

Detailed Description

template<typename DataT, se::Res ResT = se::Res::Single>
class se::Node< DataT, ResT >

The node type of the octant.

Template Parameters

DataT
ResT

Member Typedef Documentation

DataType

template<typename DataT, se::Res ResT = se::Res::Single>

typedef DataT se::Node< DataT, ResT >::DataType

Constructor & Destructor Documentation

Node() [1/2]

template<typename DataT, se::Res ResT = se::Res::Single>

se::Node< DataT, ResT >::Node	(	const Eigen::Vector3i &	coord,
		const int	size,
		const DataT	init_data
	)

Setup a node via its voxel coordinates and size.

Warning

This function should only be used for the octrees root.

Parameters

[in]	coord	The coordinates in [voxel] of the node
[in]	size	The size in [voxel] of the node

Node() [2/2]

template<typename DataT, se::Res ResT = se::Res::Single>

se::Node< DataT, ResT >::Node	(	Node< DataT, ResT > *	parent_ptr,
		const int	child_idx,
		const DataT	init_data
	)

Setup a node via its parent and child index.

Parameters

[in]	parent_ptr	The pointer to the parent node
[in]	child_idx	The child index of the node

Member Function Documentation

getSize()

template<typename DataT, se::Res ResT = se::Res::Single>

int se::Node< DataT, ResT >::getSize ( ) const

inline

Get the size in [voxel] of the node.

Returns

The size of the node

getChild() [1/2]

template<typename DataT, se::Res ResT = se::Res::Single>

const se::OctantBase* se::Node< DataT, ResT >::getChild ( const int  child_idx ) const

inline

Get the pointer to one of the children of the node.

Parameters

[in]

child_idx

The child index of the requested child

Returns

The pointer to the child. nullptr if not allocated

getChild() [2/2]

template<typename DataT, se::Res ResT = se::Res::Single>

se::OctantBase* se::Node< DataT, ResT >::getChild ( const int  child_idx )

inline

Get the pointer to one of the children of the node.

Parameters

[in]

child_idx

The child index of the requested child

Returns

The pointer to the child. nullptr if not allocated

setChild()

template<typename DataT, se::Res ResT = se::Res::Single>

se::OctantBase* se::Node< DataT, ResT >::setChild ( const int  child_idx, se::OctantBase *  child_ptr  )

inline

Set the pointer of one of the children of the node.

Parameters

[in]	child_idx	The child index of the child to be set
[in]	child_ptr	The pointer to the child to be set

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

• include/se/map/octant/block.hpp
• include/se/map/octant/node.hpp