propagator.hpp

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/*
 * SPDX-FileCopyrightText: 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: 2021 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */

#ifndef SE_PROPAGATOR_HPP
#define SE_PROPAGATOR_HPP

#include <unordered_set>

#include "se/common/timings.hpp"
#include "se/map/octant/octant.hpp"
#include "se/map/utils/type_util.hpp"

namespace se {



// Forward decleration
class OctantBase;

namespace propagator {



template<typename OctreeT, typename ChildF, typename ParentF>
void propagateBlockUp(const OctreeT& /* octree */,
                      se::OctantBase* octant_ptr,
                      const int init_scale,
                      ChildF child_funct,
                      ParentF parent_funct);

template<typename OctreeT, typename ChildF, typename ParentF>
void propagateBlockDown(const OctreeT& octree,
                        se::OctantBase* octant_ptr,
                        const int target_scale,
                        ChildF child_funct,
                        ParentF parent_funct);

template<typename PropagateF>
void propagateBlocksToRoot(std::vector<se::OctantBase*>& octant_ptrs, PropagateF& propagate_funct);

void propagateBlockTimeStampsToRoot(std::vector<se::OctantBase*>& octant_ptrs);



} // namespace propagator
} // namespace se

#include "impl/propagator_impl.hpp"

#endif // SE_PROPAGATOR_HPP