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]);
89 W = 0, E, N, S , T , B,
90 SW, NW, SE, NE,
TW, BW, TE, BE, TN, TS, BN, BS,
91 TNW,
TSW, TNE, TSE, BNW, BSW, BNE, BSE
100 bool genNeighborKey(
const OcTreeKey& node_key,
const signed char& dir,
107 unsigned int genPos(
const OcTreeKey& key,
const int& i)
const;
108 void changeKey(
const int& val,
OcTreeKey& key,
const unsigned short int& i)
const;
114 signed char nf_values[8][26];
115 signed char nf_rec_values[8][26];
116 signed char nf_multiple_values[26][4];
OctoMap: A probabilistic, flexible, and compact 3D mapping library for robotic systems.
bool operator()(const unsigned short int *key1, const unsigned short int *key2) 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
OcTreeKey is a container class for internal key addressing.
Implements a lookup table that allows to computer keys of neighbor cells directly, see: Samet 1989, "Implementing ray tracing with octrees and neighbor finding".