The octree is the memory manager of the map. More...

#include <octree.hpp>

Public Types
typedef std::shared_ptr< Octree< DataT, ResT, BlockSize > >	Ptr

typedef DataT	DataType

typedef Node< DataT, ResT >	NodeType

typedef Block< DataT, ResT, BlockSize >	BlockType

typedef se::BoostMemoryPool< NodeType, BlockType >	MemoryPool

Public Member Functions
	Octree (const int size)
	The octree needs to be initialised during the allocation. More...

	~Octree ()

	Octree (const Octree &)=delete
	TODO: More...

Octree &	operator= (const Octree &)=delete
	Delete copy assignment operator. More...

OctreeIterator< Octree< DataT, ResT, BlockSize > >	begin ()

OctreeIterator< Octree< DataT, ResT, BlockSize > >	end ()

bool	contains (const Eigen::Vector3i &voxel_coord) const
	Verify if the voxel coordinates are contained in the octree. More...

se::OctantBase *	getRoot ()
	Get the node pointer to the root of the octree. More...

se::OctantBase *	getRoot () const
	Get the node pointer to the root of the octree. More...

int	getSize () const
	Get the size of the octree in [voxel] units. More...

int	getMaxScale () const
	Get the maximum scale of the octree. More...

int	getBlockDepth () const
	Get the octree depth the blocks are allocated at. More...

bool	allocate (NodeType parent_ptr, const int child_idx, se::OctantBase &child_ptr)
	Allocate a node for a given parent node. More...

se::OctantBase *	allocate (NodeType *parent_ptr, const int child_idx)
	Allocate a octant for a given parent node. More...

bool	allocateAll (NodeType parent_ptr, const int child_idx, se::OctantBase &child_ptr)
	Allocate all of the parent node's child octants. More...

se::OctantBase *	allocateAll (NodeType *parent_ptr, const int child_idx)
	Allocate all of the parent node's child octants. More...

void	deleteChildren (NodeType *parent_ptr)
	Recursively delete all children of a given node pointer. More...

Static Public Attributes
static constexpr unsigned int	block_size = BlockSize

static constexpr se::scale_t	max_block_scale = math::log2_const(BlockSize)

static constexpr se::Field	fld_ = DataT::fld_

static constexpr se::Colour	col_ = DataT::col_

static constexpr se::Semantics	sem_ = DataT::sem_

static constexpr se::Res	res_ = ResT

Detailed Description

template<typename DataT, Res ResT = Res::Single, int BlockSize = 8>
class se::Octree< DataT, ResT, BlockSize >

The octree is the memory manager of the map.

It is the only entity that is able to allocate and deallocate nodes and blocks. However it is not responsible to process the data in the nodes.

Template Parameters

DataT	The data struct stored in each voxel (or node for Res::Multi)
ResT	The resolution type (Res::Single, Res::Multi) defining if data can only stored at a finest scale or any scale.
BlockSize	The size in voxels of a block. BlockSize in [1, (octree size) / 2] Must be a power of two.

Member Typedef Documentation

◆ Ptr

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

typedef std::shared_ptr<Octree<DataT, ResT, BlockSize> > se::Octree< DataT, ResT, BlockSize >::Ptr

◆ DataType

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

typedef DataT se::Octree< DataT, ResT, BlockSize >::DataType

◆ NodeType

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

typedef Node<DataT, ResT> se::Octree< DataT, ResT, BlockSize >::NodeType

◆ BlockType

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

typedef Block<DataT, ResT, BlockSize> se::Octree< DataT, ResT, BlockSize >::BlockType

◆ MemoryPool

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

typedef se::BoostMemoryPool<NodeType, BlockType> se::Octree< DataT, ResT, BlockSize >::MemoryPool

Constructor & Destructor Documentation

◆ Octree() [1/2]

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

se::Octree< DataT, ResT, BlockSize >::Octree ( const int size )

The octree needs to be initialised during the allocation.

Parameters

[in] size The size in [voxel] of the octree

◆ ~Octree()

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

se::Octree< DataT, ResT, BlockSize >::~Octree ( )

inline

◆ Octree() [2/2]

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

se::Octree< DataT, ResT, BlockSize >::Octree ( const Octree< DataT, ResT, BlockSize > & )

delete

TODO:

Delete copy constructor

Member Function Documentation

◆ operator=()

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

Octree& se::Octree< DataT, ResT, BlockSize >::operator= ( const Octree< DataT, ResT, BlockSize > & )

delete

Delete copy assignment operator.

◆ begin()

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

OctreeIterator<Octree<DataT, ResT, BlockSize> > se::Octree< DataT, ResT, BlockSize >::begin ( )

◆ end()

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

OctreeIterator<Octree<DataT, ResT, BlockSize> > se::Octree< DataT, ResT, BlockSize >::end ( )

◆ contains()

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

bool se::Octree< DataT, ResT, BlockSize >::contains ( const Eigen::Vector3i & voxel_coord ) const

inline

Verify if the voxel coordinates are contained in the octree.

Parameters

[in] voxel_coord The voxel coordinates to be verified

Returns: True if contained in the octree, False otherwise

◆ getRoot() [1/2]

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

se::OctantBase* se::Octree< DataT, ResT, BlockSize >::getRoot ( )

inline

Get the node pointer to the root of the octree.

Returns: The pointer to the root of the octree

◆ getRoot() [2/2]

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

se::OctantBase* se::Octree< DataT, ResT, BlockSize >::getRoot ( ) const

inline

Get the node pointer to the root of the octree.

Returns: The pointer to the root of the octree

◆ getSize()

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

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

inline

Get the size of the octree in [voxel] units.

Returns: The size of the octree

◆ getMaxScale()

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

int se::Octree< DataT, ResT, BlockSize >::getMaxScale ( ) const

inline

Get the maximum scale of the octree.

This is equivalent to the scale of the root.

Returns: The max scale of the octree

◆ getBlockDepth()

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

int se::Octree< DataT, ResT, BlockSize >::getBlockDepth ( ) const

inline

Get the octree depth the blocks are allocated at.

Returns: The octree depth the blocks are allocated at

◆ allocate() [1/2]

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

bool se::Octree< DataT, ResT, BlockSize >::allocate	(	NodeType *	parent_ptr,
		const int	child_idx,
		se::OctantBase *&	child_ptr
	)

inline

Allocate a node for a given parent node.

Warning: The returned pointer is of type OctantBase as child might be a node or block.; This function might be dangerous when using Multires Occupancy. Preferably use the allocateAll(...) function if unsure.

Parameters

[in]	parent_ptr	The parent of the octant to be allocated
[in]	child_idx	The child index of the octant to be allocated
[out]	child_ptr	The pointer ot the allocated /fetched octant

Returns: Ture if the node has been newly allocated, False if it has already been allocatedAllocate child

◆ allocate() [2/2]

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

se::OctantBase* se::Octree< DataT, ResT, BlockSize >::allocate	(	NodeType *	parent_ptr,
		const int	child_idx
	)

inline

Allocate a octant for a given parent node.

Warning: The returned pointer is of type OctantBase as child might be a node or block.; This function might be dangerous when using Multires Occupancy. Preferably use the allocateAll(...) function if unsure.

Parameters

[in]	parent_ptr	The parent of the octant to be allocated
[in]	child_idx	The child index of the octant to be allocated

Returns: The pointer ot the allocated / fetched octant

◆ allocateAll() [1/2]

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

bool se::Octree< DataT, ResT, BlockSize >::allocateAll	(	NodeType *	parent_ptr,
		const int	child_idx,
		se::OctantBase *&	child_ptr
	)

inline

Allocate all of the parent node's child octants.

Warning: The returned pointer is of type OctantBase as child might be a node or block.

Parameters

[in]	parent_ptr	The parent of the octants to be allocated
[in]	child_idx	The child index of the octant to be returned
[out]	child_ptr	The pointer ot the allocated / fetched octant of the child_idx

Returns: Ture if the node has been newly allocated, False if it has already been allocatedAllocate child

◆ allocateAll() [2/2]

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

se::OctantBase* se::Octree< DataT, ResT, BlockSize >::allocateAll	(	NodeType *	parent_ptr,
		const int	child_idx
	)

inline

Allocate all of the parent node's child octants.

Warning: The returned pointer is of type OctantBase as child might be a node or block.

Parameters

[in]	parent_ptr	The parent of the octants to be allocated
[in]	child_idx	The child index of the octant to be returned
[out]	child_ptr	The pointer ot the allocated octant

Returns: The pointer ot the allocated / fetched octant of the child_idx

◆ deleteChildren()

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

void se::Octree< DataT, ResT, BlockSize >::deleteChildren ( NodeType * parent_ptr )

inline

Recursively delete all children of a given node pointer.

Parameters

[in] parent_ptr The node pointer to delete the children of

Member Data Documentation

◆ block_size

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

constexpr unsigned int se::Octree< DataT, ResT, BlockSize >::block_size = BlockSize

static

◆ max_block_scale

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

constexpr se::scale_t se::Octree< DataT, ResT, BlockSize >::max_block_scale = math::log2_const(BlockSize)

static

◆ fld_

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

constexpr se::Field se::Octree< DataT, ResT, BlockSize >::fld_ = DataT::fld_

static

◆ col_

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

constexpr se::Colour se::Octree< DataT, ResT, BlockSize >::col_ = DataT::col_

static

◆ sem_

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

constexpr se::Semantics se::Octree< DataT, ResT, BlockSize >::sem_ = DataT::sem_

static

◆ res_

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

constexpr se::Res se::Octree< DataT, ResT, BlockSize >::res_ = ResT

static

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

include/se/map/octree/octree.hpp

Public Types

Public Member Functions

Static Public Attributes

Detailed Description

template<typename DataT, Res ResT = Res::Single, int BlockSize = 8> class se::Octree< DataT, ResT, BlockSize >

Member Typedef Documentation

◆ Ptr

◆ DataType

◆ NodeType

◆ BlockType

◆ MemoryPool

Constructor & Destructor Documentation

◆ Octree() [1/2]

◆ ~Octree()

◆ Octree() [2/2]

Member Function Documentation

◆ operator=()

◆ begin()

◆ end()

◆ contains()

◆ getRoot() [1/2]

◆ getRoot() [2/2]

◆ getSize()

◆ getMaxScale()

◆ getBlockDepth()

◆ allocate() [1/2]

◆ allocate() [2/2]

◆ allocateAll() [1/2]

◆ allocateAll() [2/2]

◆ deleteChildren()

Member Data Documentation

◆ block_size

◆ max_block_scale

◆ fld_

◆ col_

◆ sem_

◆ res_

template<typename DataT, Res ResT = Res::Single, int BlockSize = 8>
class se::Octree< DataT, ResT, BlockSize >