collisiondetectors/CD_rangesensor/octree.cpp File Reference

#include "octree.h"

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Defines

#define GET_REP(a, point, Side)

Functions

OctreeNode * assign_white_node ()
OctreeNode * assign_black_node ()
OctreeNode * assign_gray_node (struct free_space *a, struct cubic *c, int level, int maxlevel)
void mapping (struct free_space *a, struct vector_d *point, int proj_point[3])
OctreeNode * construct_octree (struct free_space *a, struct cubic *scope, int level, int maxlevel)
void scale_distance_assign (int proj_p[3], int i, int j, struct free_space *a, Range_Sensor *camera)
void calculate_scaled_distance (struct free_space *a, Range_Sensor *camera)

Variables

int last_face = -1

Define Documentation

#define GET_REP (  a,
point,
Side   ) 
 

Value:

\
{\
  switch(Side) \
    { \
    case 0: \
    rep = point.z - a->apex.z; \
    break; \
    case 1: \
    rep = -point.z + a->apex.z; \
    break; \
   case 2: \
   rep = point.y - a->apex.y; \
   break; \
   case 3:   \
   rep = -point.y + a->apex.y; \
   break; \
   case 4: \
   rep = point.x - a->apex.x; \
   break; \
   case 5: \
   rep = -point.x + a->apex.x; \
   break; \
   default: \
   exit(51); \
   break; \
   } \
};

Definition at line 11 of file octree.cpp.

Referenced by construct_octree().

Function Documentation

OctreeNode* assign_black_node (   ) 
 

Definition at line 62 of file octree.cpp.

References BLACK, OctreeNode::color, and OctreeNode::son.

Referenced by construct_octree(), and create_block_node().

OctreeNode* assign_gray_node (  struct free_space *  a,
struct cubic *  c,
int  level,
int  maxlevel
) 
 

Definition at line 82 of file octree.cpp.

References OctreeNode::color, construct_octree(), OctreeNode::father, GRAY, child_pointer::pointer, OctreeNode::son, cubic::x0, cubic::x1, cubic::y0, cubic::y1, cubic::z0, and cubic::z1.

Referenced by construct_octree().

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OctreeNode* assign_white_node (   ) 
 

Definition at line 43 of file octree.cpp.

References OctreeNode::color, OctreeNode::son, and WHITE.

Referenced by construct_octree(), and create_block_node().

void calculate_scaled_distance (  struct free_space *  a,
Range_Sensor *  camera
) 
 

Definition at line 651 of file octree.cpp.

References free_space::apex, mapping(), Range_Sensor::ray_coord_map, scale_distance_assign(), free_space::scaled_distance, vector_d::x, vector_d::y, and vector_d::z.

Referenced by construct_octree_wrapper().

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OctreeNode* construct_octree (  struct free_space *  a,
struct cubic *  scope,
int  level,
int  maxlevel
) 
 

Definition at line 415 of file octree.cpp.

References free_space::apex, assign_black_node(), assign_gray_node(), assign_white_node(), free_space::bound_end, GET_REP, INSIDE, LIMIT, mapping(), OUTSIDE, free_space::scaled_distance, vector_d::x, cubic::x0, cubic::x1, vector_d::y, cubic::y0, cubic::y1, vector_d::z, cubic::z0, and cubic::z1.

Referenced by assign_gray_node(), and construct_octree_wrapper().

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void mapping (  struct free_space *  a,
struct vector_d *  point,
int  proj_point[3]
) 
 

Definition at line 170 of file octree.cpp.

References free_space::apex, DBL_LIMIT, DBL_LIMITP, last_face, LIMIT, LIMITP, TEMP_EPSILON, vector_d::x, vector_d::y, and vector_d::z.

Referenced by calculate_scaled_distance(), and construct_octree().

void scale_distance_assign (  int  proj_p[3],
int  i,
int  j,
struct free_space *  a,
Range_Sensor *  camera
)  [inline]
 

Definition at line 616 of file octree.cpp.

References free_space::apex, Range_Sensor::ray_coord_map, free_space::scaled_distance, vector_d::x, vector_d::y, and vector_d::z.

Referenced by calculate_scaled_distance().

Variable Documentation

int last_face = -1
 

Definition at line 40 of file octree.cpp.

Referenced by mapping().

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