octant.hpp

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

#ifndef SE_OCTANT_HPP
#define SE_OCTANT_HPP

#include <iostream>

#include "se/common/math_util.hpp"
#include "se/map/data.hpp"
#include "se/map/utils/key_util.hpp"
#include "se/map/utils/setup_util.hpp"

namespace se {

class OctantBase {
    public:
    OctantBase(const bool is_block, const Eigen::Vector3i& coord, OctantBase* parent_ptr = nullptr);

    inline bool isBlock() const
    {
        return is_block_;
    };

    inline Eigen::Vector3i getCoord() const
    {
        return coord_;
    }

    inline const se::OctantBase* getParent() const
    {
        return parent_ptr_;
    }

    inline se::OctantBase* getParent()
    {
        return parent_ptr_;
    }

    inline int getTimeStamp() const
    {
        return time_stamp_;
    }

    inline void setTimeStamp(const int time_stamp)
    {
        time_stamp_ = time_stamp;
    }

    inline bool getActive() const
    {
        return is_active_;
    }

    inline void setActive(bool is_active)
    {
        is_active_ = is_active;
    }

    inline unsigned int getChildrenMask() const
    {
        return children_mask_;
    }

    inline void clearChildrenMask()
    {
        children_mask_ = 0;
    }

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    protected:
    const bool is_block_;
    OctantBase* parent_ptr_;      
    const Eigen::Vector3i coord_; 
    int time_stamp_;              
    bool is_active_;              
    unsigned int children_mask_;  

    template<typename DerT, typename DatT, int BS>
    friend class BlockSingleRes;

    template<typename DatT, int BS, typename DerT>
    friend class BlockMultiRes;

    template<typename DatT, typename DerT>
    friend class NodeMultiRes;
};



} // namespace se


#include "block.hpp"
#include "node.hpp"

#endif // SE_OCTANT_HPP