collisiondetectors/CD_rangesensor/Octree_Data_Fuser.h

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#ifndef Octree_Data_Fuser_h
#define Octree_Data_Fuser_h 1
//Octree_Data_Fuser



#include "Universe\Universe.h"
#include "robots\R_OpenChain.h"
#include "CollisionDetectors\CD_Vcollide.h"
#include "OpenGL\GL_Universe.h"
#include "OpenGL\GL_Mesh.h"
#include "logical.h"
#include "octree.h"
#include <set>
#include <algorithm>
#include <iterator>
#include <functional>

//octree_display_mode values:
const int octree_nodisplay       = 0;
const int octree_whitedisplay    = 1;
const int octree_blackdisplay    = 2;
const int octree_obstacledisplay = 3;


class Octree_Data_Fuser
{
public:

#ifdef WIN32    
  CWnd* cWindow_ptr;

  HGLRC hglrc_var;
#endif

  //construct_octree resolution values:  
  //                              maxlevel == 6 "low"
  //                              maxlevel == 7 standard
  //                              maxlevel == 8 maximum
  int maxlevel;
  int octree_display_mode;
  bool track_sensed_obstacles;
  int expected_vertexes;
  int expected_facets;
  int expected_squarevectors;
  double scalefactor;  //where 30.0 is the world x,y and z extents from (0,0,0)
  
  Configuration showconfig;

  Octree_Data_Fuser();

  Octree_Data_Fuser (const Octree_Data_Fuser& right);

  ~Octree_Data_Fuser();

  void Save_State(const char * filename);
  void Load_State(const char * filename);

  //updates local universe with block info
  void Add_Block(cubic worldextents, cubic newblocksize);

  //takes in null lv pointer, makes it point to a valid octree mesh vcollide object
  void Convert (CD_Vcollide* &lv_free,  CD_Vcollide* &lv_obstacle, 
           Universe &robot_universe, bool valid_config);

  //updates the local universe with camera info
  void Update (Range_Sensor *camera);

  //displays current local universe *lu onto OpenGL window
  void GL_Display_Octree ();

protected:

  std::set<PointClass> obstacle_points;

  GL_Universe* lu; //local universe pointer

  GL_Universe* display_lu; //local universe pointer to display universe
      
  OctreeNode* root2;  //pointer to root of local octree
  
  //creates a local universe using only knoledge of robot, not obstacles
  void new_local_universe (Universe &robot_universe);
      
};

#endif

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