Functions
bool	is_valid (const se::key_t key, const se::scale_t limit=KEY_SCALE_LIMIT)
	Verify if a key is valid.

bool	is_valid (const Eigen::Vector3i &coord)
	Verify if a coordinate can be expressed in a key.

se::code_t	expand (unsigned long long value)
	Expands a value that can be expressed by <= 19 bits E.g.

se::key_t	compact (uint64_t value)
	Compresses a value E.g.

bool	encode_key (const Eigen::Vector3i &coord, const se::scale_t scale, se::key_t &key)
	Encodes given coordinates and scale in a key.

se::key_t	encode_key (const Eigen::Vector3i &coord, const se::scale_t scale)
	Encodes given coordinates and scale in a key.

bool	encode_key (const se::key_t code, const se::scale_t scale, se::key_t &key)
	Encodes given morton code and scale in a key.

se::key_t	encode_key (const se::key_t code, const se::scale_t scale)
	Encodes given morton code and scale in a key.

void	decode_key (const se::key_t key, Eigen::Vector3i &coord, scale_t &scale)
	Extracts the 3D coordinates and scale from a given key.

void	encode_code (const Eigen::Vector3i &coord, se::code_t &code)
	Compute the Morton code for given x,y,z coordinates.

se::code_t	encode_code (const Eigen::Vector3i &coord)
	Compute the Morton code for given x,y,z coordinates.

void	decode_code (const se::code_t code, Eigen::Vector3i &coord)
	Compute the x,y,z coordinates for a given Morton code.

idx_t	code_to_child_idx (const se::code_t code, const scale_t scale)
	Extracts the child index from a Morton code for a given scale.

se::code_t	key_to_code (const se::key_t key)
	Reduce a key to only its Morton code.

Eigen::Vector3i	key_to_coord (const se::key_t key)
	Reduce a key to only its Morton code.

scale_t	key_to_scale (const se::key_t key)
	Reduce a key to only its scale.

bool	key_at_scale (const se::key_t key, const se::scale_t scale, se::key_t &key_at_scale)
	For a given key, change the key scale and reduce detail from Morton code up to given the scale.

bool	code_at_scale (const se::key_t key, const se::scale_t scale, se::code_t &code_at_scale)
	For a given key, reduce detail from Morton code up to given a scale.

void	parent_key (const se::key_t key, se::key_t &parent_key)
	Compute the direct parent key for a given key.

se::key_t	block_key (const se::key_t key, const se::scale_t max_block_scale)
	Removes the voxel position detail within a block from a key while maintainig the scale information.

se::code_t	block_code (const se::key_t key, const se::scale_t max_block_scale)
	Removes the voxel position detail within a block from a code.

void	parent_to_child_key (const se::key_t parent_key, const se::code_t code_at_scale, se::key_t &child_key)
	Compute the child key for a given parent key and child index.

bool	is_child (const se::key_t parent_key, const se::key_t child_key)
	Verify if a key is a child of a different key.

bool	is_siblings (const se::key_t sibling_1_key, const se::key_t sibling_2_key)
	Verify if two keys encode sibling nodes/voxels.

template<Sort = Sort::SmallToLarge>
void	sort_keys (std::vector< se::key_t > &keys)
	Sorting template.

template<>
void	sort_keys< Sort::SmallToLarge > (std::vector< se::key_t > &keys)
	Sorts the keys from smallest to largest.

template<>
void	sort_keys< Sort::LargeToSmall > (std::vector< se::key_t > &keys)
	Sorts the keys from largest to smallest.

template<se::Safe SafeB>
void	unique_keys (const std::vector< se::key_t > &keys, std::vector< se::key_t > &unique_keys)
	Filter keys based on the whole key (i.e.

template<se::Safe SafeB>
void	unique_codes (const std::vector< se::key_t > &keys, std::vector< se::key_t > &unique_keys)
	Filter keys based on their code and keep the key with the smallest scale.

template<se::Safe SafeB>
void	unique_allocation (const std::vector< se::key_t > &keys, const scale_t max_block_scale, std::vector< se::key_t > &unique_keys)
	Filter keys based on unique allocation.

template<se::Safe SafeB>
void	unique_at_scale (const std::vector< se::key_t > &keys, const se::scale_t scale, std::vector< se::key_t > &unique_keys)
	Filter keys at a given scale.

void	face_neighbours (const se::key_t key, std::array< se::key_t, 6 > face_neighbour_keys)
	TODO: 6-connectivity + centre.

void	neighbours (const se::key_t key, std::array< se::key_t, 26 > neighbour_keys)
	TODO: 26-connectivity.

void	siblings (const se::key_t key, std::array< se::key_t, 8 > sibling_keys)
	TODO: 4 siblings (includes key)

Function Documentation

◆ is_valid() [1/2]

bool se::keyops::is_valid	(	const se::key_t	key,
		const se::scale_t	limit = `KEY_SCALE_LIMIT`
	)

inline

Verify if a key is valid.

Parameters

[in] key The key to be varified

Returns: True if the key is valid, False otherwise.

◆ is_valid() [2/2]

bool se::keyops::is_valid ( const Eigen::Vector3i & coord )

inline

Verify if a coordinate can be expressed in a key.

Parameters

[in] coord The 3D coordinates to be varified

Returns: True if the coordinates are valid, False otherwise.

◆ expand()

se::code_t se::keyops::expand ( unsigned long long value )

inline

Expands a value that can be expressed by <= 19 bits E.g.

DCBA => 00D 00C 00B 00A

Parameters

[in] value The value to be expanded

Returns: The expanded value

◆ compact()

se::key_t se::keyops::compact ( uint64_t value )

inline

Compresses a value E.g.

00D 00C 00B 00A => DCBA

Parameters

[in] value The value to be compressed

Returns: The compressed value

◆ encode_key() [1/4]

bool se::keyops::encode_key	(	const Eigen::Vector3i &	coord,
		const se::scale_t	scale,
		se::key_t &	key
	)

inline

Encodes given coordinates and scale in a key.

Note: The key will only hold as much detail as possible at the given scale. I.e. if the coordinates are at a higher resolution than the scale can represent, the details will be lost.

Parameters

[in]	coord	The coordinates to be encoded
[in]	scale	The scale at which to encode the coordinates
[out]	key	The encoded key

Returns: True if no detail is lost, false otherwise

◆ encode_key() [2/4]

se::key_t se::keyops::encode_key	(	const Eigen::Vector3i &	coord,
		const se::scale_t	scale
	)

inline

Encodes given coordinates and scale in a key.

Note: The key will only hold as much detail as possible at the given scale. I.e. if the coordinates are at a higher resolution than the scale can represent, the details will be lost.

Parameters

[in]	coord	The coordinates to be encoded
[in]	scale	The scale at which to encode the coordinates

Returns: The encoded key

◆ encode_key() [3/4]

bool se::keyops::encode_key	(	const se::key_t	code,
		const se::scale_t	scale,
		se::key_t &	key
	)

inline

Encodes given morton code and scale in a key.

Note: The key will only hold as much detail as possible at the given scale. I.e. if the code is at a higher resolution than the scale can represent, the details will be lost.

Parameters

[in]	coord	The coordinates to be encoded
[in]	scale	The scale at which to encode the cooridinates
[out]	key	The encoded key

Returns: True if no detail is lost, false otherwise

◆ encode_key() [4/4]

se::key_t se::keyops::encode_key	(	const se::key_t	code,
		const se::scale_t	scale
	)

inline

Encodes given morton code and scale in a key.

Note: The key will only hold as much detail as possible at the given scale. I.e. if the code is at a higher resolution than the scale can represent, the details will be lost.

Parameters

[in]	coord	The coordinates to be encoded
[in]	scale	The scale at which to encode the cooridinates

Returns: The encoded key

◆ decode_key()

void se::keyops::decode_key	(	const se::key_t	key,
		Eigen::Vector3i &	coord,
		scale_t &	scale
	)

inline

Extracts the 3D coordinates and scale from a given key.

Parameters

[in]	key	The key to be encoded
[out]	coord	The 3D coordinates of the key
[out]	scale	The the scale of the key

◆ encode_code() [1/2]

void se::keyops::encode_code	(	const Eigen::Vector3i &	coord,
		se::code_t &	code
	)

inline

Compute the Morton code for given x,y,z coordinates.

Parameters

[in]	coord	The coordinates to be encoded
[out]	code	The Morten code representing the coordinates

◆ encode_code() [2/2]

se::code_t se::keyops::encode_code ( const Eigen::Vector3i & coord )

inline

Compute the Morton code for given x,y,z coordinates.

Parameters

[in]	coord	The coordinates to be encoded
[out]	code	The Morten code representing the coordinates

◆ decode_code()

void se::keyops::decode_code	(	const se::code_t	code,
		Eigen::Vector3i &	coord
	)

inline

Compute the x,y,z coordinates for a given Morton code.

Parameters

[in]	code	The code to be encoded
[out]	coord	The coordinates representing the Morton code

◆ code_to_child_idx()

idx_t se::keyops::code_to_child_idx	(	const se::code_t	code,
		const scale_t	scale
	)

inline

Extracts the child index from a Morton code for a given scale.

Parameters

code	The full Morton code
scale	The scale at which to extract the child index

Returns: The child index

◆ key_to_code()

se::code_t se::keyops::key_to_code ( const se::key_t key )

inline

Reduce a key to only its Morton code.

Parameters

[in] key The key containing the Morton code

Returns: The Morton code of the key

◆ key_to_coord()

Eigen::Vector3i se::keyops::key_to_coord ( const se::key_t key )

inline

Reduce a key to only its Morton code.

Parameters

[in] key The key containing the Morton code

Returns: The Morton code of the key

◆ key_to_scale()

scale_t se::keyops::key_to_scale ( const se::key_t key )

inline

Reduce a key to only its scale.

Parameters

[in] key The key containing the Morton code

Returns: The scale of the key

◆ key_at_scale()

bool se::keyops::key_at_scale	(	const se::key_t	key,
		const se::scale_t	scale,
		se::key_t &	key_at_scale
	)

inline

For a given key, change the key scale and reduce detail from Morton code up to given the scale.

Parameters

[in]	key	The key to be modified
[in]	scale	The scale the key should be changed to
[out]	key_at_scale	The modified key

Returns: True if the key can be reduced to the given scale, False otherwise

◆ code_at_scale()

bool se::keyops::code_at_scale	(	const se::key_t	key,
		const se::scale_t	scale,
		se::code_t &	code_at_scale
	)

inline

For a given key, reduce detail from Morton code up to given a scale.

Parameters

[in]	key	The key containing the code to be modified
[in]	scale	The scale the code should be reduced to
[out]	code_at_scale	The modified code

Returns: True if the code can be reduced to the given scale, False otherwise

◆ parent_key()

void se::keyops::parent_key	(	const se::key_t	key,
		se::key_t &	parent_key
	)

inline

Compute the direct parent key for a given key.

Parameters

[in]	key	The key to compute the direct parent from
[in]	parent_key	The parent key

◆ block_key()

se::key_t se::keyops::block_key	(	const se::key_t	key,
		const se::scale_t	max_block_scale
	)

inline

Removes the voxel position detail within a block from a key while maintainig the scale information.

Note: The key will not be modified if a node key is handed to it.

Parameters

[in]	key	The key to be filtered
[in]	max_block_scale	The maximum scale of a block

Returns: The filtered block key

◆ block_code()

se::code_t se::keyops::block_code	(	const se::key_t	key,
		const se::scale_t	max_block_scale
	)

inline

Removes the voxel position detail within a block from a code.

Note: The code will not be modified if a node key is handed to it.

Parameters

[in]	key	The key to be filtered
[in]	max_block_scale	The maximum scale of a block

Returns: The filtered block code

◆ parent_to_child_key()

void se::keyops::parent_to_child_key	(	const se::key_t	parent_key,
		const se::code_t	code_at_scale,
		se::key_t &	child_key
	)

inline

Compute the child key for a given parent key and child index.

Note: code_at_scale is equivalent to se::code_t(child_idx)

Parameters

[in]	parent_key	The key of parent
[in]	code_at_scale	The morton code segment at the scale e.g. 000, 001, ... , 110, ... , 111
[out]	child_key	The key of the child

◆ is_child()

bool se::keyops::is_child	(	const se::key_t	parent_key,
		const se::key_t	child_key
	)

inline

Verify if a key is a child of a different key.

Note: This function is not limited by a single scale change. If parent_key expresses any ancestor of child_key the function will return True.

Parameters

[in]	parent_key	The key of the parent
[in]	child_key	The key of the potential child

Returns: True if child_key expresses a child node/voxel of parent_key

◆ is_siblings()

bool se::keyops::is_siblings	(	const se::key_t	sibling_1_key,
		const se::key_t	sibling_2_key
	)

inline

Verify if two keys encode sibling nodes/voxels.

Parameters

[in]	sibling_1_key	The key of the first sibling
[in]	sibling_2_key	The key of the second sibling

Returns: True if the keys express siblings nodes/voxels, False otherwise

◆ sort_keys()

template<Sort = Sort::SmallToLarge>

void se::keyops::sort_keys ( std::vector< se::key_t > & keys )

inline

Sorting template.

Default small to larger key sorting.

◆ sort_keys< Sort::SmallToLarge >()

template<>

void se::keyops::sort_keys< Sort::SmallToLarge > ( std::vector< se::key_t > & keys )

inline

Sorts the keys from smallest to largest.

At a given scale a dimension will be prioritised z > y > z (MSB > LSB)
For equivalent Morton codes smaller scales will be prioritised over larger scales (child first).

Parameters

[in/out] keys The keys to be sorted

◆ sort_keys< Sort::LargeToSmall >()

template<>

void se::keyops::sort_keys< Sort::LargeToSmall > ( std::vector< se::key_t > & keys )

inline

Sorts the keys from largest to smallest.

At a given scale a dimension will be prioritised z > y > z (MSB > LSB)
For equivalent Morton codes larger scales will be prioritised over smaller scales (parent first).

Parameters

[in/out] keys

◆ unique_keys()

template<se::Safe SafeB>

void se::keyops::unique_keys	(	const std::vector< se::key_t > &	keys,
		std::vector< se::key_t > &	unique_keys
	)

inline

Filter keys based on the whole key (i.e.

code and scale).

Parameters

[in]	keys	The keys to be filtered
[out]	unique_keys	The filtered unique keys

◆ unique_codes()

template<se::Safe SafeB>

void se::keyops::unique_codes	(	const std::vector< se::key_t > &	keys,
		std::vector< se::key_t > &	unique_keys
	)

inline

Filter keys based on their code and keep the key with the smallest scale.

Parameters

[in]	keys	The keys to be filtered
[out]	unique_keys	The filtered unique keys

◆ unique_allocation()

template<se::Safe SafeB>

void se::keyops::unique_allocation	(	const std::vector< se::key_t > &	keys,
		const scale_t	max_block_scale,
		std::vector< se::key_t > &	unique_keys
	)

inline

Filter keys based on unique allocation.

Parents will be filtered out
Voxel position detail within a block will be filtered out

Parameters

[in]	keys	The keys to be filtered
[out]	unique_keys	The filtered unique keys

◆ unique_at_scale()

template<se::Safe SafeB>

void se::keyops::unique_at_scale	(	const std::vector< se::key_t > &	keys,
		const se::scale_t	scale,
		std::vector< se::key_t > &	unique_keys
	)

inline

Filter keys at a given scale.

Keys at finer scales will be moved to the given scale.
Keys at coarser scales will be removed.

Parameters

[in]	keys	The keys to be filtered
[in]	scale	The scale at which to filter the keys
[out]	unique_keys	The filtered unique keys

◆ face_neighbours()

void se::keyops::face_neighbours	(	const se::key_t	key,
		std::array< se::key_t, 6 >	face_neighbour_keys
	)

inline

TODO: 6-connectivity + centre.

Compute the 6 face neighbour keys of a given key (excluding the key itself)

Parameters

[in]	key	The key of which to get the neighbours from
[out]	face_neighbour_keys	The 6 face neighbour keys

◆ neighbours()

void se::keyops::neighbours	(	const se::key_t	key,
		std::array< se::key_t, 26 >	neighbour_keys
	)

inline

TODO: 26-connectivity.

Compute the 26 neighbour keys of a given key (excluding the key itself)

Parameters

[in]	key	The key of which to get the neighbours from
[out]	neighbour_keys	The 26 neighbour keys

◆ siblings()

void se::keyops::siblings	(	const se::key_t	key,
		std::array< se::key_t, 8 >	sibling_keys
	)

inline

TODO: 4 siblings (includes key)

Get the 7 sibling keys of a given key (including the key itself)

Parameters

[in]	key	The key of which to get the siblings from
[out]	sibling_keys	The eight sibling keys

Functions

Function Documentation

◆ is_valid() [1/2]

◆ is_valid() [2/2]

◆ expand()

◆ compact()

◆ encode_key() [1/4]

◆ encode_key() [2/4]

◆ encode_key() [3/4]

◆ encode_key() [4/4]

◆ decode_key()

◆ encode_code() [1/2]

◆ encode_code() [2/2]

◆ decode_code()

◆ code_to_child_idx()

◆ key_to_code()

◆ key_to_coord()

◆ key_to_scale()

◆ key_at_scale()

◆ code_at_scale()

◆ parent_key()

◆ block_key()

◆ block_code()

◆ parent_to_child_key()

◆ is_child()

◆ is_siblings()

◆ sort_keys()

◆ sort_keys< Sort::SmallToLarge >()

◆ sort_keys< Sort::LargeToSmall >()

◆ unique_keys()

◆ unique_codes()

◆ unique_allocation()

◆ unique_at_scale()

◆ face_neighbours()

◆ neighbours()

◆ siblings()