node.hpp

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/*
 * SPDX-FileCopyrightText: 2016-2019 Emanuele Vespa
 * SPDX-FileCopyrightText: 2019-2025 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2019-2021 Nils Funk
 * SPDX-FileCopyrightText: 2019-2025 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef SE_NODE_HPP
#define SE_NODE_HPP
 
namespace se {
 
template<typename DataT, Res ResT>
class Node;
 
template<typename DataT, Res ResT>
struct NodeData {
    const DataT& data() const
    {
        static const DataT default_data;
        return default_data;
    }
 
    protected:
    NodeData(const DataT&)
    {
    }
};
 
 
 
template<Colour ColB, Semantics SemB, Res ResT>
struct NodeData<Data<Field::Occupancy, ColB, SemB>, ResT> {
    typedef Data<Field::Occupancy, ColB, SemB> DataType;
 
    DataType min_data;
    DataType max_data;
 
    const DataType& data() const
    {
        static const DataType default_data = DataType();
        return (max_data.field.observed && derived()->isLeaf()) ? max_data : default_data;
    }
 
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    protected:
    NodeData(const DataType& init_data)
    {
        min_data = init_data;
        max_data = init_data;
    }
 
    private:
    const Node<DataType, ResT>* derived() const
    {
        return static_cast<const Node<DataType, ResT>*>(this);
    }
};
 
 
 
template<typename DataT, Res ResT>
class Node : public OctantBase, public NodeData<DataT, ResT> {
    public:
    typedef DataT DataType;
 
    Node(const Eigen::Vector3i& coord, const int size, const DataT& init_data);
 
    Node(Node* const parent_ptr, const int child_idx, const DataT& init_data);
 
    const OctantBase* getChild(const int child_idx) const;
 
    OctantBase* getChild(const int child_idx);
 
    void setChild(const int child_idx, OctantBase* const child_ptr);
 
    Eigen::Vector3i getChildCoord(const int child_idx) const;
 
    int getChildIdx(const Eigen::Vector3i& child_coord) const;
 
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    private:
    // Pointers to the eight node children. Must be nullptr for unallocated children.
    std::array<OctantBase*, 8> children_ptr_;
 
    public:
    const int size;
};
 
} // namespace se
 
#include "impl/node_impl.hpp"
 
#endif // SE_NODE_HPP