multires_tsdf_updater.hpp

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/*
 * SPDX-FileCopyrightText: 2016-2019 Emanuele Vespa
 * SPDX-FileCopyrightText: 2019-2024 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2019-2021 Nils Funk
 * SPDX-FileCopyrightText: 2021-2024 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef SE_MULTIRES_TSDF_UPDATER_HPP
#define SE_MULTIRES_TSDF_UPDATER_HPP
 
#include <se/map/octant/octant.hpp>
#include <se/map/octree/propagator.hpp>
 
namespace se {
 
template<Colour ColB, Id IdB, int BlockSize, typename SensorT>
struct Updater<Map<Data<Field::TSDF, ColB, IdB>, Res::Multi, BlockSize>, SensorT> {
    typedef Map<Data<Field::TSDF, ColB, IdB>, Res::Multi, BlockSize> MapType;
    typedef typename MapType::DataType DataType;
    typedef typename MapType::OctreeType OctreeType;
    typedef typename MapType::BlockType BlockType;
 
    Updater(MapType& map,
            std::vector<OctantBase*>& block_ptrs,
            const timestamp_t timestamp,
            const Measurements<SensorT>& measurements);
};
 
} // namespace se
 
#include "impl/multires_tsdf_updater_impl.hpp"
 
#endif // SE_MULTIRES_TSDF_UPDATER_HPP