mrpt::opengl::COctreePointRenderer< Derived >::TNode Struct Reference

Detailed Description

template<class Derived>
struct mrpt::opengl::COctreePointRenderer< Derived >::TNode

The structure for each octree spatial node.

Each node can either be a leaf of has 8 children nodes. Instead of pointers, children are referenced by their indices in m_octree_nodes

Definition at line 132 of file COctreePointRenderer.h.

Public Member Functions
	TNode ()
void	update_bb (const mrpt::math::TPoint3Df &p)
	update bounding box with a new point: More...
float	getCornerX (int i) const
float	getCornerY (int i) const
float	getCornerZ (int i) const
void	setBBFromOrderInParent (const TNode &parent, int my_child_index)

Public Attributes
bool	is_leaf {true}
	true: it's a leaf and pts has valid indices; false: children is valid. More...
mrpt::math::TPoint3Df	bb_min
mrpt::math::TPoint3Df	bb_max
std::vector< size_t >	pts
	Point indices in the derived class that fall into this node. More...
bool	all {false}
	true: All elements in the reference object; false: only those in pts More...
mrpt::math::TPoint3Df	center
	[is_leaf=false] The center of the node, whose coordinates are used to decide between the 8 children nodes. More...
size_t	child_id [8]
	[is_leaf=false] The indices in m_octree_nodes of the 8 children. More...

Constructor & Destructor Documentation

TNode()

template<class Derived>

mrpt::opengl::COctreePointRenderer< Derived >::TNode::TNode ( )

inline

Definition at line 134 of file COctreePointRenderer.h.

Member Function Documentation

getCornerX()

template<class Derived>

float mrpt::opengl::COctreePointRenderer< Derived >::TNode::getCornerX ( int  i ) const

inline

Definition at line 180 of file COctreePointRenderer.h.

References mrpt::opengl::COctreePointRenderer< Derived >::TNode::bb_max, mrpt::opengl::COctreePointRenderer< Derived >::TNode::bb_min, and mrpt::math::TPoint3D_data< T >::x.

getCornerY()

template<class Derived>

float mrpt::opengl::COctreePointRenderer< Derived >::TNode::getCornerY ( int  i ) const

inline

Definition at line 184 of file COctreePointRenderer.h.

References mrpt::opengl::COctreePointRenderer< Derived >::TNode::bb_max, mrpt::opengl::COctreePointRenderer< Derived >::TNode::bb_min, and mrpt::math::TPoint3D_data< T >::y.

getCornerZ()

template<class Derived>

float mrpt::opengl::COctreePointRenderer< Derived >::TNode::getCornerZ ( int  i ) const

inline

Definition at line 188 of file COctreePointRenderer.h.

References mrpt::opengl::COctreePointRenderer< Derived >::TNode::bb_max, mrpt::opengl::COctreePointRenderer< Derived >::TNode::bb_min, and mrpt::math::TPoint3D_data< T >::z.

setBBFromOrderInParent()

template<class Derived>

void mrpt::opengl::COctreePointRenderer< Derived >::TNode::setBBFromOrderInParent ( const TNode &  parent, int  my_child_index  )

inline

Definition at line 193 of file COctreePointRenderer.h.

References mrpt::opengl::COctreePointRenderer< Derived >::TNode::bb_max, mrpt::opengl::COctreePointRenderer< Derived >::TNode::bb_min, mrpt::opengl::COctreePointRenderer< Derived >::TNode::center, mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

update_bb()

template<class Derived>

void mrpt::opengl::COctreePointRenderer< Derived >::TNode::update_bb ( const mrpt::math::TPoint3Df &  p )

inline

update bounding box with a new point:

Definition at line 170 of file COctreePointRenderer.h.

References mrpt::opengl::COctreePointRenderer< Derived >::TNode::bb_max, mrpt::opengl::COctreePointRenderer< Derived >::TNode::bb_min, mrpt::keep_max(), mrpt::keep_min(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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Member Data Documentation

all

template<class Derived>

bool mrpt::opengl::COctreePointRenderer< Derived >::TNode::all {false}

true: All elements in the reference object; false: only those in pts

Definition at line 159 of file COctreePointRenderer.h.

bb_max

template<class Derived>

mrpt::math::TPoint3Df mrpt::opengl::COctreePointRenderer< Derived >::TNode::bb_max

Definition at line 152 of file COctreePointRenderer.h.

Referenced by mrpt::opengl::COctreePointRenderer< Derived >::TNode::getCornerX(), mrpt::opengl::COctreePointRenderer< Derived >::TNode::getCornerY(), mrpt::opengl::COctreePointRenderer< Derived >::TNode::getCornerZ(), mrpt::opengl::COctreePointRenderer< Derived >::TNode::setBBFromOrderInParent(), and mrpt::opengl::COctreePointRenderer< Derived >::TNode::update_bb().

bb_min

template<class Derived>

mrpt::math::TPoint3Df mrpt::opengl::COctreePointRenderer< Derived >::TNode::bb_min

Definition at line 152 of file COctreePointRenderer.h.

Referenced by mrpt::opengl::COctreePointRenderer< Derived >::TNode::getCornerX(), mrpt::opengl::COctreePointRenderer< Derived >::TNode::getCornerY(), mrpt::opengl::COctreePointRenderer< Derived >::TNode::getCornerZ(), mrpt::opengl::COctreePointRenderer< Derived >::TNode::setBBFromOrderInParent(), and mrpt::opengl::COctreePointRenderer< Derived >::TNode::update_bb().

center

template<class Derived>

mrpt::math::TPoint3Df mrpt::opengl::COctreePointRenderer< Derived >::TNode::center

[is_leaf=false] The center of the node, whose coordinates are used to decide between the 8 children nodes.

Definition at line 164 of file COctreePointRenderer.h.

Referenced by mrpt::opengl::COctreePointRenderer< Derived >::TNode::setBBFromOrderInParent().

child_id

template<class Derived>

size_t mrpt::opengl::COctreePointRenderer< Derived >::TNode::child_id[8]

[is_leaf=false] The indices in m_octree_nodes of the 8 children.

Definition at line 167 of file COctreePointRenderer.h.

is_leaf

template<class Derived>

bool mrpt::opengl::COctreePointRenderer< Derived >::TNode::is_leaf {true}

true: it's a leaf and pts has valid indices; false: children is valid.

Definition at line 149 of file COctreePointRenderer.h.

pts

template<class Derived>

std::vector<size_t> mrpt::opengl::COctreePointRenderer< Derived >::TNode::pts

Point indices in the derived class that fall into this node.

Definition at line 156 of file COctreePointRenderer.h.