octree_base_state.h

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#ifndef OCTREE_TREE_BASE_STATE_H
#define OCTREE_TREE_BASE_STATE_H

#include "pcl/octree/octree_base.h"

namespace pcl
{
  namespace octree
  {
    class OctreeBranchWithState : public OctreeBranch
    {
    public:
      OctreeBranchWithState () : OctreeBranch () {}
      OctreeBranchWithState (const OctreeBranchWithState& source)
        : OctreeBranch (source)
        , state_ (source.state_)
      { }
      inline void setState (const int& state) { state_ = state; }

      inline int getState () const { return (state_); }

    private:
      int state_;
    };




    template<typename DataT, typename LeafT = OctreeLeafDataT<DataT> >
    class OctreeBaseWithState : public OctreeBase <DataT, LeafT, OctreeBranchWithState>
    {
    public:

      typedef OctreeBase <DataT, LeafT, OctreeBranchWithState> Base;
      using Base::OctreeKey;
      typedef typename Base::OctreeBranch OctreeBranch;
      
      OctreeBaseWithState () : Base () {}
        
      ~OctreeBaseWithState () {}
 
    protected:



      class OctreeLeafBranch : public OctreeNode
      {
        // OctreeBase is a friend!
        friend class OctreeBaseWithState;

      public:

        OctreeLeafBranch () {}

        virtual ~OctreeLeafBranch () {}

        virtual OctreeNode*
        deepCopy () const
        {
          return (OctreeNode*) new OctreeLeafBranch (*this);
        }
        
        virtual node_type_t
        getNodeType () const
        {
          return LEAF_BRANCH;
        }
        
      private:

        // branch state
        int state_;
      };

    protected:

      inline void
      setBranchState (OctreeBranch*& branch_arg, const int state)
      {
        branch_arg->setState (state);
      }

      inline void
      setBranchState (OctreeLeafBranch*& branch_arg, const int state)
      {
        branch_arg->state_ = state;
      }
    
      inline int
      getBranchState ( OctreeBranch*& branch_arg)
      {
        return (branch_arg->getState ());
      }
      inline int
      getBranchState ( OctreeLeafBranch*& branch_arg)
      {
        return branch_arg->state_;
      }

    };
  }
}

#endif