mrpt::opengl::COctreePointRenderer::TNode Struct Reference

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Detailed Description

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

List of all members.

Public Member Functions
	TNode ()
void	update_bb (const mrpt::math::TPoint3Df &p)
	update bounding box with a new point:
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: it's a leaf and pts has valid indices; false: children is valid.
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.
bool	all
	true: All elements in the reference object; false: only those in pts
mrpt::math::TPoint3Df	center
	[is_leaf=false] The center of the node, whose coordinates are used to decide between the 8 children nodes.
size_t	child_id [8]
	[is_leaf=false] The indices in m_octree_nodes of the 8 children.

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Constructor & Destructor Documentation

mrpt::opengl::COctreePointRenderer::TNode::TNode

(

)

[inline]

Definition at line 126 of file COctreePointRenderer.h.

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Member Function Documentation

float mrpt::opengl::COctreePointRenderer::TNode::getCornerX

(

int

i

)

const [inline]

Definition at line 151 of file COctreePointRenderer.h.

float mrpt::opengl::COctreePointRenderer::TNode::getCornerY

(

int

i

)

const [inline]

Definition at line 152 of file COctreePointRenderer.h.

float mrpt::opengl::COctreePointRenderer::TNode::getCornerZ

(

int

i

)

const [inline]

Definition at line 153 of file COctreePointRenderer.h.

void mrpt::opengl::COctreePointRenderer::TNode::setBBFromOrderInParent	(	const TNode &	parent,
		int	my_child_index
	)		[inline]

Definition at line 155 of file COctreePointRenderer.h.

References bb_min, center, mrpt::math::TPoint3Df::x, bb_max, mrpt::math::TPoint3Df::y, and mrpt::math::TPoint3Df::z.

void mrpt::opengl::COctreePointRenderer::TNode::update_bb

(

const mrpt::math::TPoint3Df &

p

)

[inline]

update bounding box with a new point:

Definition at line 145 of file COctreePointRenderer.h.

References mrpt::utils::keep_min(), mrpt::math::TPoint3Df::x, mrpt::math::TPoint3Df::y, mrpt::math::TPoint3Df::z, and mrpt::utils::keep_max().

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Member Data Documentation

bool mrpt::opengl::COctreePointRenderer::TNode::all

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

Definition at line 138 of file COctreePointRenderer.h.

mrpt::math::TPoint3Df mrpt::opengl::COctreePointRenderer::TNode::bb_max

Definition at line 134 of file COctreePointRenderer.h.

Referenced by setBBFromOrderInParent().

mrpt::math::TPoint3Df mrpt::opengl::COctreePointRenderer::TNode::bb_min

Definition at line 134 of file COctreePointRenderer.h.

Referenced by setBBFromOrderInParent().

mrpt::math::TPoint3Df mrpt::opengl::COctreePointRenderer::TNode::center

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

Definition at line 141 of file COctreePointRenderer.h.

Referenced by setBBFromOrderInParent().

size_t mrpt::opengl::COctreePointRenderer::TNode::child_id[8]

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

Definition at line 142 of file COctreePointRenderer.h.

bool mrpt::opengl::COctreePointRenderer::TNode::is_leaf

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

Definition at line 131 of file COctreePointRenderer.h.

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

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

Definition at line 137 of file COctreePointRenderer.h.