se::Node< DataT, ResT > Class Template Reference

An intermediate node of an se::Octree. More...

#include <node.hpp>

Inheritance diagram for se::Node< DataT, ResT >:

Collaboration diagram for se::Node< DataT, ResT >:

Public Types
typedef DataT	DataType

Public Member Functions
	Node (const Eigen::Vector3i &coord, const int size, const DataT &init_data)
	Construct a node at coordinates coord in voxels, with an edge length size in voxels and initialize its data with init_data.
	Node (Node *const parent_ptr, const int child_idx, const DataT &init_data)
	Construct the child node of parent_ptr with index child_idx and initialize its data with init_data.
const OctantBase *	getChild (const int child_idx) const
	Return a pointer to the node child with index child_idx.
OctantBase *	getChild (const int child_idx)
	A non-const overload of the previous member function.
void	setChild (const int child_idx, OctantBase *const child_ptr)
	Set the node child with index child_idx to child_ptr.
Eigen::Vector3i	getChildCoord (const int child_idx) const
	Return the coordinates in voxels of the child with index child_idx.
int	getChildIdx (const Eigen::Vector3i &child_coord) const
	Return the index of the child of the node with coordinates child_coord.
Public Member Functions inherited from se::OctantBase
OctantBase *	parent ()
	Return the pointer to the octant's parent.
const OctantBase *	parent () const
	Const version of se::OctantBase::parent().
bool	isLeaf () const
	Return whether the octant is a leaf, that is, whether it has no children.
Public Member Functions inherited from se::NodeData< DataT, ResT >
const DataT &	data () const
	Always returns the default data.

Public Attributes
const int	size
	The edge length of the node in voxels.
Public Attributes inherited from se::OctantBase
const Eigen::Vector3i	coord
	The coordinates in voxels of the octant's vertex closest to the origin.
timestamp_t	timestamp
	The time the octant was last updated at.
std::uint8_t	child_mask
	The i-th least significant bit of the mask must be set if the i-th child of the octant is allocated.
const bool	is_block
	Whether the octant is an se::Block.

Additional Inherited Members
Protected Member Functions inherited from se::OctantBase
	OctantBase (const Eigen::Vector3i &coord, const bool is_block, OctantBase *const parent_ptr)
	Construct an octant given the non-negative coordinates in voxels of its vertex closest to the origin (coord), whether it's an se::Block (is_block) and the pointer to its parent octant (parent_ptr).
Protected Member Functions inherited from se::NodeData< DataT, ResT >
	NodeData (const DataT &)

Detailed Description

template<typename DataT, Res ResT>
class se::Node< DataT, ResT >

An intermediate node of an se::Octree.

An se::Node is never a leaf in TSDF octrees but may be a leaf in occupancy octrees.

Template Parameters

DataT	The type of data stored in the octree.
ResT	The value of se::Res for the octree.

Member Typedef Documentation

DataType

template<typename DataT , Res ResT>

typedef DataT se::Node< DataT, ResT >::DataType

Constructor & Destructor Documentation

Node() [1/2]

template<typename DataT , Res ResT>

se::Node< DataT, ResT >::Node	(	const Eigen::Vector3i &	coord,
		const int	size,
		const DataT &	init_data
	)

Construct a node at coordinates coord in voxels, with an edge length size in voxels and initialize its data with init_data.

Warning

This constructor should only be used for the octree root node as it doesn't set the parent pointer.

Node() [2/2]

template<typename DataT , Res ResT>

se::Node< DataT, ResT >::Node	(	Node< DataT, ResT > *const	parent_ptr,
		const int	child_idx,
		const DataT &	init_data
	)

Construct the child node of parent_ptr with index child_idx and initialize its data with init_data.

The value of child_idx must be in the interval [0, 7] inclusive.

Member Function Documentation

getChild() [1/2]

template<typename DataT , Res ResT>

const OctantBase * se::Node< DataT, ResT >::getChild

(

const int

child_idx

)

const

Return a pointer to the node child with index child_idx.

The value of child_idx must be in the interval [0, 7] inclusive. Returns nullptr if the child is not allocated.

getChild() [2/2]

template<typename DataT , Res ResT>

OctantBase * se::Node< DataT, ResT >::getChild

(

const int

child_idx

)

A non-const overload of the previous member function.

setChild()

template<typename DataT , Res ResT>

void se::Node< DataT, ResT >::setChild	(	const int	child_idx,
		OctantBase *const	child_ptr
	)

Set the node child with index child_idx to child_ptr.

The value of child_idx must be in the interval [0, 7] inclusive.

getChildCoord()

template<typename DataT , Res ResT>

Eigen::Vector3i se::Node< DataT, ResT >::getChildCoord

(

const int

child_idx

)

const

Return the coordinates in voxels of the child with index child_idx.

getChildIdx()

template<typename DataT , Res ResT>

int se::Node< DataT, ResT >::getChildIdx

(

const Eigen::Vector3i &

child_coord

)

const

Return the index of the child of the node with coordinates child_coord.

The returned index is in the interval [0, 7] inclusive.

Warning

Will return garbage if child_coord doesn't correspond to the coordinates of a child of the node.

Member Data Documentation

size

template<typename DataT , Res ResT>

const int se::Node< DataT, ResT >::size

The edge length of the node in voxels.

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

• include/se/map/octant/block.hpp
• include/se/map/octant/node.hpp