3dpcp/include/slam6d/kdcache.h

51 lines
1 KiB
C
Raw Normal View History

2012-09-16 12:33:11 +00:00
/**
* @file
* @brief Representation of the cache for cached k-d tree search.
* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
*/
#ifndef __KD_CACHE_H__
#define __KD_CACHE_H__
#include "searchCache.h"
#include "kdparams.h"
// just a prototype
class KDtree_cache;
class Scan;
/**
* @brief cache item
*
* The return value of the cached k-d tree
* is a bundle of the closest point and
* a pointer to the leaf.
**/
class KDCacheItem : public SearchTreeCacheItem {
public:
KDCacheItem() { node = 0; };
KDParams param;
KDtree_cache *node;
};
/**
* @brief cache
*
* The cache consists of an array of KDCacheItems
* and two Scan numbers.
**/
class KDCache {
public:
// KDCache() { SourceScanNr = TargetScanNr = 0; item = 0; };
KDCache() { target = 0; item = 0; };
KDCacheItem *item; // array of items
// unsigned int SourceScanNr;
// unsigned int TargetScanNr;
Scan const * target;
};
#endif