octant.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: 2019-2024 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef SE_OCTANT_HPP
#define SE_OCTANT_HPP
 
#include <se/common/math_util.hpp>
#include <se/map/data.hpp>
#include <se/map/utils/key_util.hpp>
 
namespace se {
 
class OctantBase {
    // The OctantBase data member order was selected so that sizeof(OctantBase) is minimized.
 
    OctantBase* const parent_ptr_;
 
    public:
    const Eigen::Vector3i coord;
 
    timestamp_t timestamp;
 
    std::uint8_t child_mask;
 
    const bool is_block;
 
 
 
    protected:
    OctantBase(const Eigen::Vector3i& coord, const bool is_block, OctantBase* const parent_ptr) :
            parent_ptr_(parent_ptr), coord(coord), timestamp(-1), child_mask(0u), is_block(is_block)
    {
    }
 
    public:
    OctantBase* parent()
    {
        return parent_ptr_;
    }
 
    const OctantBase* parent() const
    {
        return parent_ptr_;
    }
 
    bool isLeaf() const
    {
        return child_mask == 0u;
    }
 
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
} // namespace se
 
#include "block.hpp"
#include "node.hpp"
 
#endif // SE_OCTANT_HPP