text: /*
   * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
   * https://octomap.github.io/
   *
   * 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.
   */
  
  #ifndef OCTOMAP_MAP_COLLECTION_H
  #define OCTOMAP_MAP_COLLECTION_H
  
  
  #include <vector>
  #include <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;
  
      double 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 "octomap/MapCollection.hxx"
  
  #endif
  