Octree data structure. More...

#include <SurgSim/DataStructures/OctreeNode.h>

Inheritance diagram for SurgSim::DataStructures::OctreeNode< Data >:

Public Types
typedef Eigen::AlignedBox< double, 3 >	AxisAlignedBoundingBox
	Bounding box type for convenience. More...

Public Member Functions
	OctreeNode ()
	Constructor. More...

	OctreeNode (const OctreeNode &other)
	Copy constructor when the template data is the same type. More...

template<class T >
	OctreeNode (const OctreeNode< T > &other)
	Copy constructor when the template data is a different type In this case, no data will be copied. More...

	OctreeNode (const SurgSim::Math::Aabbd &boundingBox)
	Constructor. More...

virtual	~OctreeNode ()
	Destructor. More...

const SurgSim::Math::Aabbd &	getBoundingBox () const
	Get the bounding box for this octree node. More...

bool	isActive () const
	Is this node active. More...

void	setIsActive (bool isActive)
	Set active flag for this octree node. More...

bool	hasChildren () const
	Does this node have children. More...

void	subdivide ()
	Subdivide the node into 8 equal regions. More...

bool	addData (const SurgSim::Math::Vector3d &position, const Data &nodeData, const int level)
	Add data to a node in this octree The octree will build the octree as necessary to add the node at the specified level. More...

std::array< std::shared_ptr< OctreeNode< Data > >, 8 > &	getChildren ()
	Get the children of this node (non const version) More...

const std::array< std::shared_ptr< OctreeNode< Data > >, 8 > &	getChildren () const
	Get the children of this node. More...

std::shared_ptr< OctreeNode< Data > >	getChild (size_t index)
	Get a child of this node (non const version) More...

const std::shared_ptr< OctreeNode< Data > >	getChild (size_t index) const
	Get a child of this node. More...

virtual std::shared_ptr< OctreeNode< Data > >	getNode (const OctreePath &path, bool returnLastValid=false)
	Get the node at the supplied path. More...

Public Member Functions inherited from SurgSim::Framework::Asset
	Asset ()
	Constructor. More...

virtual	~Asset ()
	Destructor. More...

void	load (const std::string &fileName, const SurgSim::Framework::ApplicationData &data)
	Load a file with given name using 'data' as look up path(s). More...

void	load (const std::string &fileName)
	Overloaded function using SurgSim::Framework::Runtime::getApplicationData() as look up path(s). More...

std::string	getFileName () const
	Return the name of file loaded by this class. More...

Public Attributes
Data	data
	Extra node data. More...

Protected Member Functions
bool	doAddData (const SurgSim::Math::Vector3d &position, const Data &nodeData, const int level, const int currentLevel)
	Recursive function that does the adding of the data to the octree. More...

virtual bool	doLoad (const std::string &filePath) override
	Derived classes will overwrite this method to do actual loading. More...

Protected Member Functions inherited from SurgSim::Framework::Asset
void	serializeFileName (SurgSim::Framework::Accessible *accessible)
	Derived classes (which also inherit from SurgSim::Framework::Accessible) should call this function with 'this' pointer as the parameter in their constructors to register file name property for serialization. More...

Protected Attributes
SurgSim::Math::Aabbd	m_boundingBox
	The bounding box of the current OctreeNode. More...

bool	m_isActive
	True if there is any data inside this node, including data held by children, children's children, etc. More...

bool	m_hasChildren
	True if the node has children. More...

std::array< std::shared_ptr< OctreeNode< Data > >, 8 >	m_children
	The children of this node. More...

Friends
class	SurgSim::Math::OctreeShape

Detailed Description

template<class Data>
class SurgSim::DataStructures::OctreeNode< Data >

Octree data structure.

The octree node consists of an axis aligned bounding box, that can be subdivided into 8 equally sized subregions. Each subregion is an octree node and can be further subdivided. with x-right and y-up on a right handed coordinate system this is the ordering of the nodes of the tree, looking down the z-axis Back Face 2 3 0 1 Front Face 6 7 4 5

Template Parameters

Data	Type of extra data stored in each node

Member Typedef Documentation

template<class Data>

typedef Eigen::AlignedBox<double, 3> SurgSim::DataStructures::OctreeNode< Data >::AxisAlignedBoundingBox

Bounding box type for convenience.

Constructor & Destructor Documentation

template<class Data >

SurgSim::DataStructures::OctreeNode< Data >::OctreeNode ( )

Constructor.

template<class Data >

SurgSim::DataStructures::OctreeNode< Data >::OctreeNode ( const OctreeNode< Data > & other )

Copy constructor when the template data is the same type.

Parameters

other the octree to copy from

template<class Data >

template<class T >

SurgSim::DataStructures::OctreeNode< Data >::OctreeNode ( const OctreeNode< T > & other )

Copy constructor when the template data is a different type In this case, no data will be copied.

Template Parameters

T	type of data stored in the other node

Parameters

other the octree to copy from

template<class Data >

SurgSim::DataStructures::OctreeNode< Data >::OctreeNode ( const SurgSim::Math::Aabbd & boundingBox )

explicit

Constructor.

Parameters

boundingBox The region contained by this octree node

template<class Data >

SurgSim::DataStructures::OctreeNode< Data >::~OctreeNode ( )

virtual

Destructor.

Member Function Documentation

template<class Data >

bool SurgSim::DataStructures::OctreeNode< Data >::addData	(	const SurgSim::Math::Vector3d &	position,
		const Data &	nodeData,
		const int	level
	)

Add data to a node in this octree The octree will build the octree as necessary to add the node at the specified level.

Parameters

position	The position to add the data at
nodeData	The data to store in the node
level	The number of levels down the octree to store the data

Returns: true if data is added

template<class Data >

bool SurgSim::DataStructures::OctreeNode< Data >::doAddData	(	const SurgSim::Math::Vector3d &	position,
		const Data &	nodeData,
		const int	level,
		const int	currentLevel
	)

protected

Recursive function that does the adding of the data to the octree.

Parameters

position	The position to add the data at
nodeData	The data to store in the node
level	The number of levels down the octree to store the data
currentLevel	Used to keep track of the current level during recursive calls

Returns: true if data is added

template<class Data >

bool SurgSim::DataStructures::OctreeNode< Data >::doLoad ( const std::string & filePath )

overrideprotectedvirtual

Derived classes will overwrite this method to do actual loading.

Note: This method is not required to do any check on the validity or the existence of the file.

Parameters

filePath Absolute path to the file.

Returns: True if loading is successful; Otherwise, false.

Implements SurgSim::Framework::Asset.

template<class Data >

const SurgSim::Math::Aabbd & SurgSim::DataStructures::OctreeNode< Data >::getBoundingBox ( ) const

Get the bounding box for this octree node.

Returns: the bounding box

template<class Data >

std::shared_ptr< OctreeNode< Data > > SurgSim::DataStructures::OctreeNode< Data >::getChild ( size_t index )

Get a child of this node (non const version)

Exceptions

SurgSim::Framework::AssertionFailure if the index >= 8

Parameters

index the child index

Returns: the requested octree node

template<class Data >

const std::shared_ptr< OctreeNode< Data > > SurgSim::DataStructures::OctreeNode< Data >::getChild ( size_t index ) const

Get a child of this node.

Exceptions

SurgSim::Framework::AssertionFailure if the index >= 8

Parameters

index the child index

Returns: the requested octree node

template<class Data >

std::array< std::shared_ptr< OctreeNode< Data > >, 8 > & SurgSim::DataStructures::OctreeNode< Data >::getChildren ( )

Get the children of this node (non const version)

Returns: vector of all eight children

template<class Data >

const std::array< std::shared_ptr< OctreeNode< Data > >, 8 > & SurgSim::DataStructures::OctreeNode< Data >::getChildren ( ) const

Get the children of this node.

Returns: vector of all eight children

template<class Data >

std::shared_ptr< OctreeNode< Data > > SurgSim::DataStructures::OctreeNode< Data >::getNode	(	const OctreePath &	path,
		bool	returnLastValid = `false`
	)

virtual

Get the node at the supplied path.

Exceptions

SurgSim::Framework::AssertionFailure if returnLastValid is false and the node does not exist.

Parameters

path	the path to the specific node
returnLastValid	if true and the path is longer than the tree deep, the function will return

Returns: the requested octree node

template<class Data >

bool SurgSim::DataStructures::OctreeNode< Data >::hasChildren ( ) const

Does this node have children.

Returns: true if this node has children

template<class Data >

bool SurgSim::DataStructures::OctreeNode< Data >::isActive ( ) const

Is this node active.

Returns: true if the octree node is active

template<class Data >

void SurgSim::DataStructures::OctreeNode< Data >::setIsActive ( bool isActive )

Set active flag for this octree node.

Parameters

isActive True if the octree node is being activated, False otherwise

template<class Data >

void SurgSim::DataStructures::OctreeNode< Data >::subdivide ( )

Subdivide the node into 8 equal regions.

Each subregion will be stored as this nodes children.

Note: The data stored in the current node will not be automatically subdivided.

Friends And Related Function Documentation

template<class Data>

friend class SurgSim::Math::OctreeShape

friend

Member Data Documentation

template<class Data>

Data SurgSim::DataStructures::OctreeNode< Data >::data

Extra node data.

template<class Data>

SurgSim::Math::Aabbd SurgSim::DataStructures::OctreeNode< Data >::m_boundingBox

protected

The bounding box of the current OctreeNode.

template<class Data>

std::array<std::shared_ptr<OctreeNode<Data> >, 8> SurgSim::DataStructures::OctreeNode< Data >::m_children

protected

The children of this node.

template<class Data>

bool SurgSim::DataStructures::OctreeNode< Data >::m_hasChildren

protected

True if the node has children.

template<class Data>

bool SurgSim::DataStructures::OctreeNode< Data >::m_isActive

protected

True if there is any data inside this node, including data held by children, children's children, etc.

The documentation for this class was generated from the following files:

SurgSim/DataStructures/OctreeNode.h
SurgSim/DataStructures/OctreeNode-inl.h

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Friends

Detailed Description

template<class Data> class SurgSim::DataStructures::OctreeNode< Data >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<class Data>
class SurgSim::DataStructures::OctreeNode< Data >