octree_iterator.h

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 * $Id: octree_iterator.h 3749 2011-12-31 22:58:01Z rusu $
 */

#ifndef OCTREE_ITERATOR_H
#define OCTREE_ITERATOR_H

#include <cstddef>
#include <vector>

#include "octree_nodes.h"

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include <iterator>

namespace pcl
{
  namespace octree
  {

    template<typename DataT, typename LeafT, typename OctreeT>
    class OctreeNodeIterator: public std::iterator<std::forward_iterator_tag, const OctreeNode, void,
          const OctreeNode*, const OctreeNode&>
    {
      // public typedefs
      typedef typename OctreeT::OctreeBranch OctreeBranch;
      typedef typename OctreeT::OctreeKey OctreeKey;

      public:
        explicit
        OctreeNodeIterator (const OctreeT& octree_arg);

        virtual
        ~OctreeNodeIterator ();

        inline void
        reset ();

        inline const OctreeKey&
        getCurrentOctreeKey () const
        {
          return (currentOctreeKey_);
        }

        inline unsigned int
        getCurrentOctreeDepth () const
        {
          return (currentOctreeDepth_);
        }

        inline const OctreeNode*
        getCurrentOctreeNode () const
        {
          return (currentNode_);
        }

        inline void
        getVoxelBounds (Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const
        {
          octree_->genVoxelBoundsFromOctreeKey (currentOctreeKey_, currentOctreeDepth_, min_pt, max_pt);
        }

        inline const OctreeNode*
        operator* () const
        { // return designated object
          return (this->getCurrentOctreeNode ());
        }

        inline bool
        operator== (const OctreeNodeIterator& right_arg) const
        { // test for iterator equality
          return ((octree_ == right_arg.octree_) && (currentNode_ == right_arg.currentNode_));
        }

        inline bool
        operator!= (const OctreeNodeIterator& right_arg) const
        { // test for iterator inequality
          return (!(octree_ != right_arg.octree_) || !(currentNode_ != right_arg.currentNode_));
        }

        void
        skipChildVoxels ();

        OctreeNodeIterator&
        operator++ ();

        inline OctreeNodeIterator
        operator++ (int)
        {
          OctreeNodeIterator _Tmp = *this;
          ++*this;
          return (_Tmp);
        }

      protected:
        const OctreeT& octree_;

        const OctreeNode* currentNode_;

        unsigned char currentChildIdx_;

        unsigned int currentOctreeDepth_;

        OctreeKey currentOctreeKey_;

        std::vector<std::pair<OctreeNode const*, unsigned char> > stack_;
      };



    template<typename DataT, typename LeafT, typename OctreeT>
    class OctreeLeafNodeIterator : public OctreeNodeIterator<DataT, LeafT, OctreeT>
    {
      public:
        explicit
        OctreeLeafNodeIterator (const OctreeT& octree_arg) :
          OctreeNodeIterator<DataT, LeafT, OctreeT> (octree_arg)
        {
        }

        virtual
        ~OctreeLeafNodeIterator ()
        {
        }

        inline OctreeLeafNodeIterator&
        operator++ ()
        {
          do
          {
            OctreeNodeIterator<DataT, LeafT, OctreeT>::operator++ ();
          } while ((this->currentNode_) && (this->currentNode_->getNodeType () != LEAF_NODE));

          return (*this);
        }

        inline OctreeLeafNodeIterator
        operator++ (int)
        {
          OctreeLeafNodeIterator _Tmp = *this;
          ++*this;
          return (_Tmp);
        }

        const LeafT*
        operator* () const
        {
          // return designated object
          const LeafT* ret = NULL;

          if (this->currentNode_ && (this->currentNode_->getNodeType () == LEAF_NODE))
            ret = (const LeafT*)this->currentNode_;
          return (ret);
        }

        virtual void
        getData (const DataT*& data_arg) const
        {
          const DataT* result = 0;

          if (this->currentNode_ && (this->currentNode_->getNodeType () == LEAF_NODE))
          {
            const LeafT* leafNode = (const LeafT*)this->currentNode_;
            leafNode->getData (result);
          }
          data_arg = result;
        }

        virtual void
        getData (std::vector<DataT>& dataVector_arg) const
        {
          if (this->currentNode_ && (this->currentNode_->getNodeType () == LEAF_NODE))
          {
            const LeafT* leafNode = (const LeafT*)this->currentNode_;
            leafNode->getData (dataVector_arg);
          }
        }
      };

  }
}

#endif