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 Types inherited from SurgSim::Framework::Accessible
typedef std::function< boost::any(void)>	GetterType

typedef std::function< void(boost::any)>	SetterType

typedef std::function< YAML::Node(void)>	EncoderType

typedef std::function< void(const YAML::Node *)>	DecoderType

Public Types inherited from SurgSim::Framework::FactoryBase< Asset >
typedef ObjectFactory< Asset >	FactoryType

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...

std::string	getClassName () const override
	Support serialization with a classname. 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 int level, const Data &nodeData=Data())
	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...

	Asset (const Asset &rhs)
	Copy 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 Member Functions inherited from SurgSim::Framework::Accessible
	Accessible ()
	Default Constructor. More...

	~Accessible ()
	Destructor. More...

template<class T >
T	getValue (const std::string &name) const
	Retrieves the value with the name by executing the getter if it is found and tries to convert it to the given type. More...

boost::any	getValue (const std::string &name) const
	Retrieves the value with the name by executing the getter if it is found. More...

template<class T >
bool	getValue (const std::string &name, T *value) const
	Retrieves the value with the name by executing the getter if it is found, and converts it to the type of the output parameter. More...

void	setValue (const std::string &name, const boost::any &value)
	Sets a value of a property that has setter. More...

bool	isReadable (const std::string &name) const
	Check whether a property is readable. More...

bool	isWriteable (const std::string &name) const
	Check whether a property is writable. More...

void	setGetter (const std::string &name, GetterType func)
	Sets a getter for a given property. More...

void	setSetter (const std::string &name, SetterType func)
	Sets a setter for a given property. More...

void	setAccessors (const std::string &name, GetterType getter, SetterType setter)
	Sets the accessors getter and setter in one function. More...

void	removeAccessors (const std::string &name)
	Removes all the accessors (getter and setter) for a given property. More...

void	forwardProperty (const std::string &name, const Accessible &target, const std::string &targetProperty)
	Adds a property with the given name that uses the targets accessors, in effect forwarding the value to the target. More...

void	setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder)
	Sets the functions used to convert data from and to a YAML::Node. More...

void	setDecoder (const std::string &name, DecoderType decoder)
	Sets the functions used to convert data from a YAML::Node. More...

YAML::Node	encode () const
	Encode this Accessible to a YAML::Node. More...

void	decode (const YAML::Node &node, const std::vector< std::string > &ignoredProperties=std::vector< std::string >())
	Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converted. More...

template<>
boost::any	getValue (const std::string &name) const

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...

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

Private Member Functions
template<>
std::string	m_className

Static Private Attributes
static std::string	m_className

Friends
class	SurgSim::Math::OctreeShape

class	SurgSim::DataStructures::OctreeNodePlyReaderDelegate< Data >

Additional Inherited Members
Static Public Member Functions inherited from SurgSim::Framework::FactoryBase< Asset >
static FactoryType &	getFactory ()

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

◆ AxisAlignedBoundingBox

template<class Data>

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

Bounding box type for convenience.

Constructor & Destructor Documentation

◆ OctreeNode() [1/4]

template<class Data >

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

Constructor.

◆ OctreeNode() [2/4]

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

◆ OctreeNode() [3/4]

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

◆ OctreeNode() [4/4]

template<class Data >

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

explicit

Constructor.

Parameters

boundingBox The region contained by this octree node

◆ ~OctreeNode()

template<class Data >

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

virtual

Destructor.

Member Function Documentation

◆ addData()

template<class Data >

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

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

◆ doAddData()

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

◆ doLoad()

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.

◆ getBoundingBox()

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

◆ getChild() [1/2]

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

◆ getChild() [2/2]

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

◆ getChildren() [1/2]

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

◆ getChildren() [2/2]

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

◆ getClassName()

template<class Data >

std::string SurgSim::DataStructures::OctreeNode< Data >::getClassName ( ) const

overridevirtual

Support serialization with a classname.

Returns: the name of this class

Implements SurgSim::Framework::Asset.

◆ getNode()

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

◆ hasChildren()

template<class Data >

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

Does this node have children.

Returns: true if this node has children

◆ isActive()

template<class Data >

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

Is this node active.

Returns: true if the octree node is active

◆ m_className()

template<>

std::string SurgSim::DataStructures::OctreeNode< EmptyData >::m_className ( )

private

◆ setIsActive()

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

◆ subdivide()

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

◆ SurgSim::DataStructures::OctreeNodePlyReaderDelegate< Data >

template<class Data>

friend class SurgSim::DataStructures::OctreeNodePlyReaderDelegate< Data >

friend

◆ SurgSim::Math::OctreeShape

template<class Data>

friend class SurgSim::Math::OctreeShape

friend

Member Data Documentation

◆ data

template<class Data>

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

Extra node data.

◆ m_boundingBox

template<class Data>

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

protected

The bounding box of the current OctreeNode.

◆ m_children

template<class Data>

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

protected

The children of this node.

◆ m_className

template<class Data>

std::string SurgSim::DataStructures::OctreeNode< Data >::m_className

staticprivate

◆ m_hasChildren

template<class Data>

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

protected

True if the node has children.

◆ m_isActive

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

Private Member Functions

Static Private Attributes

Friends

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ AxisAlignedBoundingBox

Constructor & Destructor Documentation

◆ OctreeNode() [1/4]

◆ OctreeNode() [2/4]

◆ OctreeNode() [3/4]

◆ OctreeNode() [4/4]

◆ ~OctreeNode()

Member Function Documentation

◆ addData()

◆ doAddData()

◆ doLoad()

◆ getBoundingBox()

◆ getChild() [1/2]

◆ getChild() [2/2]

◆ getChildren() [1/2]

◆ getChildren() [2/2]

◆ getClassName()

◆ getNode()

◆ hasChildren()

◆ isActive()

◆ m_className()

◆ setIsActive()

◆ subdivide()

Friends And Related Function Documentation

◆ SurgSim::DataStructures::OctreeNodePlyReaderDelegate< Data >

◆ SurgSim::Math::OctreeShape

Member Data Documentation

◆ data

◆ m_boundingBox

◆ m_children

◆ m_className

◆ m_hasChildren

◆ m_isActive

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