/usr/include/octomap/OcTreeDataNode.hxx is in liboctomap-dev 1.8.1+dfsg-1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 | /*
* OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
* http://octomap.github.com/
*
* Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
* All rights reserved.
* License: New BSD
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the University of Freiburg nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
namespace octomap {
template <typename T>
OcTreeDataNode<T>::OcTreeDataNode()
: children(NULL)
{
}
template <typename T>
OcTreeDataNode<T>::OcTreeDataNode(T initVal)
: children(NULL), value(initVal)
{
}
template <typename T>
OcTreeDataNode<T>::OcTreeDataNode(const OcTreeDataNode<T>& rhs)
: children(NULL), value(rhs.value)
{
if (rhs.children != NULL){
allocChildren();
for (unsigned i = 0; i<8; ++i){
if (rhs.children[i] != NULL)
children[i] = new OcTreeDataNode<T>(*(static_cast<OcTreeDataNode<T>*>(rhs.children[i])));
}
}
}
template <typename T>
OcTreeDataNode<T>::~OcTreeDataNode()
{
// Delete only own members. OcTree maintains tree structure and must have deleted
// children already
assert(children == NULL);
}
template <typename T>
void OcTreeDataNode<T>::copyData(const OcTreeDataNode<T>& from){
value = from.value;
}
template <typename T>
bool OcTreeDataNode<T>::operator== (const OcTreeDataNode<T>& rhs) const{
return rhs.value == value;
}
// ============================================================
// = children =======================================
// ============================================================
template <typename T>
bool OcTreeDataNode<T>::childExists(unsigned int i) const {
assert(i < 8);
if ((children != NULL) && (children[i] != NULL))
return true;
else
return false;
}
template <typename T>
bool OcTreeDataNode<T>::hasChildren() const {
if (children == NULL)
return false;
for (unsigned int i = 0; i<8; i++){
// fast check, we know children != NULL
if (children[i] != NULL)
return true;
}
return false;
}
// ============================================================
// = File IO =======================================
// ============================================================
template <typename T>
std::istream& OcTreeDataNode<T>::readData(std::istream &s) {
s.read((char*) &value, sizeof(value));
return s;
}
template <typename T>
std::ostream& OcTreeDataNode<T>::writeData(std::ostream &s) const{
s.write((const char*) &value, sizeof(value));
return s;
}
// ============================================================
// = private methodes =======================================
// ============================================================
template <typename T>
void OcTreeDataNode<T>::allocChildren() {
children = new AbstractOcTreeNode*[8];
for (unsigned int i=0; i<8; i++) {
children[i] = NULL;
}
}
} // end namespace
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