text: /* +---------------------------------------------------------------------------+
     |                     Mobile Robot Programming Toolkit (MRPT)               |
     |                          http://www.mrpt.org/                             |
     |                                                                           |
     | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
     | See: http://www.mrpt.org/Authors - All rights reserved.                   |
     | Released under BSD License. See details in http://www.mrpt.org/License    |
     +---------------------------------------------------------------------------+ */
  #ifndef OCTOMAP_MAP_COLLECTION_H
  #define OCTOMAP_MAP_COLLECTION_H
  
  // $Id: MapCollection.h 402 2012-08-06 13:39:42Z ahornung $
  
  /**
   * OctoMap:
   * A probabilistic, flexible, and compact 3D mapping library for robotic systems.
   * @author K. M. Wurm, A. Hornung, University of Freiburg, Copyright (C) 2009-2011
   * @see http://octomap.sourceforge.net/
   * License: New BSD License
   */
  
  /*
   * Copyright (c) 2009-2011, K. M. Wurm, A. Hornung, University of Freiburg
   * All rights reserved.
   *
   * 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.
   */
  
  #include <vector>
  #include <mrpt/otherlibs/octomap/MapNode.h>
  
  namespace octomap {
  
    
    template <class MAPNODE>
    class MapCollection {
    public:
      MapCollection();
      MapCollection(std::string filename);
      ~MapCollection();
  
      void addNode( MAPNODE* node);
      MAPNODE* addNode(const Pointcloud& cloud, point3d sensor_origin);
      bool removeNode(const MAPNODE* n);
      MAPNODE* queryNode(const point3d& p);
  
      bool isOccupied(const point3d& p) const;
      bool isOccupied(float x, float y, float z) const;
  
      float getOccupancy(const point3d& p);
  
      bool castRay(const point3d& origin, const point3d& direction, point3d& end,
                   bool ignoreUnknownCells=false, double maxRange=-1.0) const;
  
      bool writePointcloud(std::string filename);
      bool write(std::string filename);
  
      // TODO
      void insertScan(const Pointcloud& scan, const octomap::point3d& sensor_origin,
                      double maxrange=-1., bool pruning=true, bool lazy_eval = false);
      // TODO
      MAPNODE* queryNode(std::string id);
  
      typedef typename std::vector<MAPNODE*>::iterator iterator;
      typedef typename std::vector<MAPNODE*>::const_iterator const_iterator;
      iterator begin() { return nodes.begin(); }
      iterator end()   { return nodes.end(); }
      const_iterator begin() const { return nodes.begin(); }
      const_iterator end() const { return nodes.end(); }
      size_t size() const { return nodes.size(); }
          
    protected:
      void clear();
      bool read(std::string filename);
  
      // TODO
      std::vector<Pointcloud*> segment(const Pointcloud& scan) const;
      // TODO
      MAPNODE* associate(const Pointcloud& scan);
  
      static void splitPathAndFilename(std::string &filenamefullpath, std::string* path, std::string *filename);
      static std::string combinePathAndFilename(std::string path, std::string filename);
      static bool readTagValue(std::string tag, std::ifstream &infile, std::string* value);
      
    protected:
  
      std::vector<MAPNODE*> nodes;
    };
  
  } // end namespace
  
  #include "mrpt/otherlibs/octomap/MapCollection.hxx"
  
  #endif
  