fetcher.hpp

Go to the documentation of this file.

/*
 * SPDX-FileCopyrightText: 2016-2019 Emanuele Vespa
 * SPDX-FileCopyrightText: 2021-2023 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2021 Nils Funk
 * SPDX-FileCopyrightText: 2021-2023 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef SE_FETCHER_HPP
#define SE_FETCHER_HPP
 
#include <se/map/utils/octant_util.hpp>
 
namespace se {
namespace fetcher {
 
// clang-format off
static const Eigen::Matrix<int, 3, 6> face_neighbour_offsets = (Eigen::Matrix<int, 3, 6>() <<
     0,  0, -1,  1,  0,  0,
     0, -1,  0,  0,  1,  0,
    -1,  0,  0,  0,  0,  1).finished();
// clang-format on
 
 
 
template<typename OctreeT>
OctantBase* octant(const Eigen::Vector3i& octant_coord,
                   const scale_t scale_desired,
                   OctantBase* const base_parent_ptr);
 
template<typename OctreeT>
const OctantBase* octant(const Eigen::Vector3i& octant_coord,
                         const scale_t scale_desired,
                         const OctantBase* const base_parent_ptr);
 
template<typename OctreeT>
OctantBase* finest_octant(const Eigen::Vector3i& octant_coord,
                          const scale_t scale_desired,
                          OctantBase* const base_parent_ptr);
 
template<typename OctreeT>
const OctantBase* finest_octant(const Eigen::Vector3i& octant_coord,
                                const scale_t scale_desired,
                                const OctantBase* const base_parent_ptr);
 
template<typename OctreeT>
OctantBase* block(const Eigen::Vector3i& block_coord, OctantBase* const base_parent_ptr);
 
template<typename OctreeT>
const OctantBase* block(const Eigen::Vector3i& block_coord,
                        const OctantBase* const base_parent_ptr);
 
template<typename OctreeT>
OctantBase* leaf(const Eigen::Vector3i& leaf_coord, OctantBase* const base_parent_ptr);
 
template<typename OctreeT>
const OctantBase* leaf(const Eigen::Vector3i& leaf_coord, const OctantBase* const base_parent_ptr);
 
template<typename OctreeT>
std::vector<const OctantBase*> face_neighbours(const OctantBase* const octant_ptr,
                                               const OctreeT& octree);
 
} // namespace fetcher
} // namespace se
 
#include "impl/fetcher_impl.hpp"
 
#endif // SE_FETCHER_HPP