octant_util.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_OCTANT_UTIL_HPP
#define SE_OCTANT_UTIL_HPP

#include "key_util.hpp"
#include "se/common/math_util.hpp"
#include "se/map/octant/octant.hpp"


namespace se {
namespace octantops {



template<typename BlockT, se::Sort SortT = se::Sort::SmallToLarge>
inline typename std::enable_if_t<SortT == se::Sort::SmallToLarge>
sort_blocks(std::vector<se::OctantBase*>& block_ptrs);

template<typename BlockT, se::Sort SortT>
inline typename std::enable_if_t<SortT == se::Sort::LargeToSmall>
sort_blocks(std::vector<se::OctantBase*>& block_ptrs);



inline int size_to_scale(const int octant_size);

inline int scale_to_size(const int octant_scale);

template<typename OctreeT>
inline int octant_to_size(const se::OctantBase* octant_ptr);

template<typename OctreeT>
inline int octant_to_scale(const se::OctantBase* octant_ptr);

template<typename OctreeT>
inline se::key_t octant_to_key(const se::OctantBase* octant_ptr);



} // namespace octantops
} // namespace se

#include "impl/octant_util_impl.hpp"

#endif // SE_OCTANT_UTIL_HPP