9 #ifndef OCTOMAP_OCTREE_LUT_H
10 #define OCTOMAP_OCTREE_LUT_H
61 bool operator() (
const unsigned short int* key1,
const unsigned short int* key2)
const {
62 return ((key1[0]==key2[0]) && (key1[1] == key2[1]) && (key1[2] == key2[2]));
67 unsigned short int operator()(
const unsigned short int* key)
const {
68 return (((31 + key[0]) * 31 + key[1]) * 31 + key[2]);
90 SW,
NW,
SE,
NE,
TW,
BW,
TE,
BE,
TN,
TS,
BN,
BS,
OctoMap: A probabilistic, flexible, and compact 3D mapping library for robotic systems.
signed char nf_rec_values[8][26]
signed char nf_values[8][26]
bool operator()(const unsigned short int *key1, const unsigned short int *key2) const
void changeKey(const int &val, OcTreeKey &key, const unsigned short int &i) const
NeighborDirection
(N)orth: positive X (S)outh: negative X (W)est : positive Y (E)ast: negative Y (T)op : positive Z (B)...
unsigned short int operator()(const unsigned short int *key) const
OcTreeLUT(unsigned int _max_depth)
bool genNeighborKey(const OcTreeKey &node_key, const signed char &dir, OcTreeKey &neighbor_key) const
signed char nf_multiple_values[26][4]
OcTreeKey is a container class for internal key addressing.
unsigned int genPos(const OcTreeKey &key, const int &i) const
Implements a lookup table that allows to computer keys of neighbor cells directly, see: Samet 1989, "Implementing ray tracing with octrees and neighbor finding".