VirtualRobot::VoxelTreeNDElement< T, N > Class Template Reference

Data Structures
struct	datablock

Public Member Functions
	VoxelTreeNDElement (float p[N], int level, VoxelTreeND< T, N > *master)
virtual	~VoxelTreeNDElement ()
bool	setEntry (float p[N], const T &e)
bool	hasEntry (float p[N])
T *	getEntry (float p[N])
VoxelTreeNDElement *	getLeaf (float pos[N])
VoxelTreeNDElement *	maxLeaf (const Eigen::VectorXf &pos)
std::vector< VoxelTreeNDElement * >	getAllLeafs (const Eigen::VectorXf &pos)
bool	isLeaf ()
T *	getEntry ()
	if isLeaf the corresponding entry is returned More...
float	getExtend (unsigned int d)
int	getLevel ()
Eigen::VectorXf	getVoxelCenter ()
long	countNodesRecursive ()

Protected Member Functions
std::vector< int >	getAllChildrenIndx (const Eigen::VectorXf &p)
bool	write (datablock &storeData)
bool	read (const datablock &data, const std::map< unsigned int, VoxelTreeNDElement * > &idElementMapping)
VoxelTreeNDElement< T, N > *	createChild (float p[N])
int	getChildIndx (float p[N])
bool	covers (float p[N])
void	accumulateMemoryConsumtion (long &storeMemStructure, long &storeMemData)
void	collectElements (std::vector< VoxelTreeNDElement *> &elements)
void	propagateData (float p[N], int level, VoxelTreeND< T, N > *master)
void	deleteData ()
VoxelTreeNDElement< T, N > *	getNextChild (int startIndex, int &storeElementNr)

Protected Attributes
VoxelTreeNDElement **	children
T *	entry
bool	leaf
float	pos [N]
int	level
unsigned int	id
VoxelTreeND< T, N > *	tree

Friends
class	VoxelTreeND< T, N >

Detailed Description

template<typename T, unsigned int N>
class VirtualRobot::VoxelTreeNDElement< T, N >

A template definition for storing elements of a voxelized n-d grid. Internally the elements are copied!

Constructor & Destructor Documentation

VoxelTreeNDElement()

template<typename T, unsigned int N>

VirtualRobot::VoxelTreeNDElement< T, N >::VoxelTreeNDElement ( float  p[N], int  level, VoxelTreeND< T, N > *  master  )

inline

Construct an element at position p with given extends.

~VoxelTreeNDElement()

template<typename T, unsigned int N>

virtual VirtualRobot::VoxelTreeNDElement< T, N >::~VoxelTreeNDElement ( )

inlinevirtual

Member Function Documentation

accumulateMemoryConsumtion()

template<typename T, unsigned int N>

void VirtualRobot::VoxelTreeNDElement< T, N >::accumulateMemoryConsumtion ( long &  storeMemStructure, long &  storeMemData  )

inlineprotected

collectElements()

template<typename T, unsigned int N>

void VirtualRobot::VoxelTreeNDElement< T, N >::collectElements ( std::vector< VoxelTreeNDElement< T, N > *> &  elements )

inlineprotected

countNodesRecursive()

template<typename T, unsigned int N>

long VirtualRobot::VoxelTreeNDElement< T, N >::countNodesRecursive ( )

inline

covers()

template<typename T, unsigned int N>

bool VirtualRobot::VoxelTreeNDElement< T, N >::covers ( float  p[N] )

inlineprotected

createChild()

template<typename T, unsigned int N>

VoxelTreeNDElement<T, N>* VirtualRobot::VoxelTreeNDElement< T, N >::createChild ( float  p[N] )

inlineprotected

deleteData()

template<typename T, unsigned int N>

void VirtualRobot::VoxelTreeNDElement< T, N >::deleteData ( )

inlineprotected

getAllChildrenIndx()

template<typename T, unsigned int N>

std::vector<int> VirtualRobot::VoxelTreeNDElement< T, N >::getAllChildrenIndx ( const Eigen::VectorXf &  p )

inlineprotected

getAllLeafs()

template<typename T, unsigned int N>

std::vector<VoxelTreeNDElement*> VirtualRobot::VoxelTreeNDElement< T, N >::getAllLeafs ( const Eigen::VectorXf &  pos )

inline

getChildIndx()

template<typename T, unsigned int N>

int VirtualRobot::VoxelTreeNDElement< T, N >::getChildIndx ( float  p[N] )

inlineprotected

getEntry() [1/2]

template<typename T, unsigned int N>

T* VirtualRobot::VoxelTreeNDElement< T, N >::getEntry ( float  p[N] )

inline

Returns pointer to element when existing. NULL if not.

getEntry() [2/2]

template<typename T, unsigned int N>

T* VirtualRobot::VoxelTreeNDElement< T, N >::getEntry ( )

inline

if isLeaf the corresponding entry is returned

getExtend()

template<typename T, unsigned int N>

float VirtualRobot::VoxelTreeNDElement< T, N >::getExtend ( unsigned int  d )

inline

getLeaf()

template<typename T, unsigned int N>

VoxelTreeNDElement* VirtualRobot::VoxelTreeNDElement< T, N >::getLeaf ( float  pos[N] )

inline

getLevel()

template<typename T, unsigned int N>

int VirtualRobot::VoxelTreeNDElement< T, N >::getLevel ( )

inline

getNextChild()

template<typename T, unsigned int N>

VoxelTreeNDElement<T, N>* VirtualRobot::VoxelTreeNDElement< T, N >::getNextChild ( int  startIndex, int &  storeElementNr  )

inlineprotected

getVoxelCenter()

template<typename T, unsigned int N>

Eigen::VectorXf VirtualRobot::VoxelTreeNDElement< T, N >::getVoxelCenter ( )

inline

hasEntry()

template<typename T, unsigned int N>

bool VirtualRobot::VoxelTreeNDElement< T, N >::hasEntry ( float  p[N] )

inline

Checks if there is an entry at the given position. True when this node is a leaf and the entry is set or the child at p exists and returns true on getChild(p)->hasEntry(p).

isLeaf()

template<typename T, unsigned int N>

bool VirtualRobot::VoxelTreeNDElement< T, N >::isLeaf ( )

inline

maxLeaf()

template<typename T, unsigned int N>

VoxelTreeNDElement* VirtualRobot::VoxelTreeNDElement< T, N >::maxLeaf ( const Eigen::VectorXf &  pos )

inline

propagateData()

template<typename T, unsigned int N>

void VirtualRobot::VoxelTreeNDElement< T, N >::propagateData ( float  p[N], int  level, VoxelTreeND< T, N > *  master  )

inlineprotected

read()

template<typename T, unsigned int N>

bool VirtualRobot::VoxelTreeNDElement< T, N >::read ( const datablock &  data, const std::map< unsigned int, VoxelTreeNDElement< T, N > * > &  idElementMapping  )

inlineprotected

setEntry()

template<typename T, unsigned int N>

bool VirtualRobot::VoxelTreeNDElement< T, N >::setEntry ( float  p[N], const T &  e  )

inline

Automatically checks if a new child element has to be created. A copy of e is stored.

write()

template<typename T, unsigned int N>

bool VirtualRobot::VoxelTreeNDElement< T, N >::write ( datablock &  storeData )

inlineprotected

Friends And Related Function Documentation

VoxelTreeND< T, N >

template<typename T, unsigned int N>

friend class VoxelTreeND< T, N >

friend

Field Documentation

children

template<typename T, unsigned int N>

VoxelTreeNDElement** VirtualRobot::VoxelTreeNDElement< T, N >::children

protected

entry

template<typename T, unsigned int N>

T* VirtualRobot::VoxelTreeNDElement< T, N >::entry

protected

id

template<typename T, unsigned int N>

unsigned int VirtualRobot::VoxelTreeNDElement< T, N >::id

protected

leaf

template<typename T, unsigned int N>

bool VirtualRobot::VoxelTreeNDElement< T, N >::leaf

protected

level

template<typename T, unsigned int N>

int VirtualRobot::VoxelTreeNDElement< T, N >::level

protected

pos

template<typename T, unsigned int N>

float VirtualRobot::VoxelTreeNDElement< T, N >::pos[N]

protected

tree

template<typename T, unsigned int N>

VoxelTreeND<T, N>* VirtualRobot::VoxelTreeNDElement< T, N >::tree

protected