collisiondetectors/CD_rangesensor/octree.h File Reference

#include "geometry\geo_rangesensor\Range_Sensor.h"
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <string.h>
#include <set>
#include <algorithm>
#include <iterator>
#include <functional>

Include dependency graph for octree.h:

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Go to the source code of this file.

Classes
class	PointClass
struct	vector_d
struct	vector_i
struct	free_space
struct	child_pointer
struct	OctreeNode
struct	cubic
struct	cubic_d
Defines
#define	octree_h__INCLUDED_
#define	TRUE   1
#define	FALSE   0
#define	WHITE   0
#define	BLACK   3
#define	GRAY   1
#define	LIMIT   128
#define	LIMITP   127
#define	TEMP_EPSILON   0.00000001
#define	DBL_LIMIT   (128+TEMP_EPSILON)
#define	DBL_LIMITP   (127+TEMP_EPSILON)
#define	INSIDE   0
#define	OUTSIDE   1
#define	MAXLINELENGTH   444
#define	MAXBUFFSIZE   (64*64)
#define	NUMELEMENTS   (256*256)
#define	PointsList   std::set<PointClass>;
Functions
void	mapping (struct free_space *a, vector_d *point, int proj_point[3])
OctreeNode *	construct_octree (struct free_space *a, struct cubic *scope, int level, int maxlevel)
OctreeNode *	assign_white_node ()
OctreeNode *	assign_black_node ()
OctreeNode *	assign_gray_node (struct free_space *a, struct cubic *c, int level, int maxlevel)
void	scale_distance_assign (int[3], int, int, struct free_space *, Range_Sensor *jc)
void	calculate_scaled_distance (struct free_space *a, Range_Sensor *jc)

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Define Documentation

#define BLACK   3

Definition at line 21 of file octree.h. Referenced by assign_black_node(), black_node(), check_node_containment(), clean(), intersection_node(), negative(), Octree_Data_Fuser::Octree_Data_Fuser(), and save_node().

#define DBL_LIMIT   (128+TEMP_EPSILON)

Definition at line 29 of file octree.h. Referenced by mapping().

#define DBL_LIMITP   (127+TEMP_EPSILON)

Definition at line 30 of file octree.h. Referenced by mapping().

#define FALSE   0

Definition at line 19 of file octree.h. Referenced by PL_PRM::AddNode(), IGS_Controller::BeginFrame(), PL_Astar::ClearGraph(), PL_PRM::ConnectEdgesLazy(), O_Bitmap::Display(), IGS_Controller::EndFrame(), PL_PRM::EnhanceRoadMap(), PL_Sequential::find_backward_extension(), PL_Sequential::find_forward_extension(), PL_Sequential::find_path_by_heuristic(), PL_RGD_PRM::GetUseGoalPose(), PL_PRM_ClosedChain::GetUseGoalPose(), PL_RGD_PRM::GetUseJacobian(), PL_PRM_ClosedChain::GetUseJacobian(), PL_PRM_ClosedChain::GetUseOrientConstraint(), PL_PRM_ClosedChain::GetUsePlanarConstraint(), PL_Juan::MyLocalPlanner(), PL_PRM::PL_PRM(), PL_PRM::Plan(), PL_RGD_PRM::Plan_As_Usual(), PL_PRM_ClosedChain::Plan_As_Usual(), PL_Sequential::plan_path_for_first_link(), PL_GraphBase::PrioritizeEdge(), Server::Redraw(), IGS_Controller::ScreenCapture(), PL_Astar::SetGoalConfig(), PL_Astar::SetStartConfig(), and PL_Juan::SimplifyIdsTrajectory().

#define GRAY   1

Definition at line 22 of file octree.h. Referenced by assign_gray_node(), check_node_containment(), clean(), copy(), create_block_node(), create_node(), extract_block_node(), read_node(), and save_node().

#define INSIDE   0

Definition at line 33 of file octree.h. Referenced by construct_octree().

#define LIMIT   128

Definition at line 26 of file octree.h. Referenced by construct_octree(), create_block_wrapper(), and mapping().

#define LIMITP   127

Definition at line 27 of file octree.h. Referenced by mapping().

#define MAXBUFFSIZE   (64*64)

Definition at line 37 of file octree.h.

#define MAXLINELENGTH   444

Definition at line 36 of file octree.h. Referenced by create_line_node().

#define NUMELEMENTS   (256*256)

Definition at line 38 of file octree.h.

#define octree_h__INCLUDED_

Definition at line 2 of file octree.h.

#define OUTSIDE   1

Definition at line 34 of file octree.h. Referenced by construct_octree().

#define PointsList   std::set<PointClass>;

Definition at line 47 of file octree.h.

#define TEMP_EPSILON   0.00000001

Definition at line 28 of file octree.h. Referenced by mapping().

#define TRUE   1

Definition at line 18 of file octree.h. Referenced by PL_PRM::AddNode(), PL_PRM::ConnectEdgesFull(), PL_PRM_ClosedBase::ConnectEdgesFull(), PL_RGD_PRM::ConnectEdgesFull(), PL_PRM_ClosedChain::ConnectEdgesFull(), PL_PRM::ConnectEdgesLazy(), TimerCPU::ElapsedTime(), IGS_Controller::EndFrame(), PL_OutputWindow::EndOutput(), PL_PRM::EnhanceRoadMap(), PL_Sequential::find_backward_extension(), PL_Sequential::find_forward_extension(), PL_Sequential::find_path_by_heuristic(), PL_RGD_PRM::GetUseGoalPose(), PL_PRM_ClosedChain::GetUseGoalPose(), PL_RGD_PRM::GetUseJacobian(), PL_PRM_ClosedChain::GetUseJacobian(), PL_PRM_ClosedChain::GetUseOrientConstraint(), PL_PRM_ClosedChain::GetUsePlanarConstraint(), PL_Juan::MyGoalFunc(), PL_PRM::PL_PRM(), PL_Sequential::plan_path_for_first_link(), PL_GraphBase::PrioritizeEdge(), IGS_Controller::RegisterInitialWindow(), PL_Astar::SetGoalConfig(), PL_PRM::SetPRMMode(), PL_Astar::SetStartConfig(), PL_RGD_PRM::SetUseGoalPose(), PL_PRM_ClosedChain::SetUseGoalPose(), PL_RGD_PRM::SetUseJacobian(), PL_PRM_ClosedChain::SetUseJacobian(), PL_PRM_ClosedChain::SetUseOrientConstraint(), PL_PRM_ClosedChain::SetUsePlanarConstraint(), PL_Juan::SimplifyIdsTrajectory(), TimerCPU::Start(), PL_OutputWindow::StartOutput(), and TimerCPU::Stop().

#define WHITE   0

Definition at line 20 of file octree.h. Referenced by assign_white_node(), check_node_containment(), extract_block_node(), negative(), octree_volume(), save_node(), union_node(), and white_node().

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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(). Here is the call graph for this function:

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 *  jc )

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(). Here is the call graph for this function:

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(). Here is the call graph for this function:

void mapping (  struct free_space *  a, 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  [3], int  , int  , struct free_space *  , Range_Sensor *  jc )  [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().

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