propagator.hpp

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/*
 * SPDX-FileCopyrightText: 2019 Emanuele Vespa
 * SPDX-FileCopyrightText: 2019-2021 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2019-2021 Nils Funk
 * SPDX-FileCopyrightText: 2021 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef SE_PROPAGATOR_HPP
#define SE_PROPAGATOR_HPP
 
#include <se/common/timings.hpp>
#include <se/map/octant/octant.hpp>
#include <unordered_set>
 
namespace se {
 
 
 
// Forward decleration
class OctantBase;
 
namespace propagator {
 
 
 
template<typename OctreeT, typename AggregateF>
void propagateBlockUp(const OctreeT& /* octree */,
                      se::OctantBase* octant_ptr,
                      const int init_scale,
                      AggregateF aggregate_children_funct);
 
template<typename OctreeT, typename ChildF, typename ParentF>
void propagateBlockDown(const OctreeT& octree,
                        se::OctantBase* octant_ptr,
                        const int target_scale,
                        ChildF child_funct,
                        ParentF parent_funct);
 
template<typename PropagateF>
void propagateBlocksToRoot(std::vector<se::OctantBase*>& octant_ptrs, PropagateF& propagate_funct);
 
void propagateBlockTimeStampsToRoot(std::vector<se::OctantBase*>& octant_ptrs);
 
 
 
} // namespace propagator
} // namespace se
 
#include "impl/propagator_impl.hpp"
 
#endif // SE_PROPAGATOR_HPP