fetcher.hpp

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

#ifndef SE_FETCHER_HPP
#define SE_FETCHER_HPP

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



namespace se {
namespace fetcher {



template<typename OctreeT>
inline se::OctantBase* octant(const Eigen::Vector3i& octant_coord,
                              const se::scale_t scale_desired,
                              se::OctantBase* base_parent_ptr);

template<typename OctreeT>
inline se::OctantBase* finest_octant(const Eigen::Vector3i& octant_coord,
                                     const se::scale_t scale_desired,
                                     se::OctantBase* base_parent_ptr);

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

template<typename OctreeT>
inline se::OctantBase* leaf(const Eigen::Vector3i& leaf_coord, se::OctantBase* base_parent_ptr);



} // namespace fetcher
} // namespace se

#include "impl/fetcher_impl.hpp"

#endif // SE_FETCHER_HPP