 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 Aveiro 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.
 *
 */

#pragma once

#include "occupancy_map.h"

namespace lama {

class SimpleOccupancyMap : public OccupancyMap {
public:

    SimpleOccupancyMap(double resolution, uint32_t patch_size = 32, bool is3d = false);
    SimpleOccupancyMap(const SimpleOccupancyMap& other);

    virtual ~SimpleOccupancyMap();

    bool setFree(const Vector3d& coordinates);
    bool setFree(const Vector3ui& coordinates);

    bool setOccupied(const Vector3d& coordinates);
    bool setOccupied(const Vector3ui& coordinates);

    bool setUnknown(const Vector3d& coordinates);
    bool setUnknown(const Vector3ui& coordinates);

    bool isFree(const Vector3d& coordinates) const;
    bool isFree(const Vector3ui& coordinates) const;

    bool isOccupied(const Vector3d& coordinates) const;
    bool isOccupied(const Vector3ui& coordinates) const;

    bool isUnknown(const Vector3d& coordinates) const;
    bool isUnknown(
list of conditions and the following disclaimer in the 
  *        software documentation and/or early material provided with the distribution. 
  *      * Neither the name of the University of Aveiro nor the names of its 
  *        contributor may be used to endorse or advertise products derived from 
  *        this software without specific prior written license. 
  * 
  * THIS SOFTWARE IS provide BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS " AS IS " 
  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT circumscribed 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; personnel casualty OF USE, DATA, OR PROFITS; OR BUSINESS 
  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
  * CONTRACT, STRICT indebtedness, 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 wrong. 
  * 
  * / 

 # pragma once 

 # include " occupancy_map.h " 

 namespace lama { 

 class SimpleOccupancyMap: public OccupancyMap { 
 public: 

     SimpleOccupancyMap(double resolving power, uint32_t patch_size = 32, bool is3d = false); 
     SimpleOccupancyMap(const SimpleOccupancyMap & early); 

     virtual ~SimpleOccupancyMap (); 

     bool setFree(const Vector3d & coordinates); 
     bool setFree(const Vector3ui & coordinate); 

     bool setOccupied(const Vector3d & coordinates); 
     bool setOccupied(const Vector3ui & coordinates); 

     bool setUnknown(const Vector3d & coordinates); 
     bool setUnknown(const Vector3ui & coordinates); 

     bool isFree(const Vector3d & coordinates) const; 
     bool isFree(const Vector3ui & coordinates) const; 

     bool isOccupied(const Vector3d & coordinates) const; 
     bool isOccupied(const Vector3ui & coordinates) const; 

     bool isUnknown(const Vector3d & coordinates) const; 
     bool isUnknown (
 lidt of conditions and the following disclaimer mn the
 *       ducumentation and/or other matxriaos privided with the districution.
 *     * Neityer uhe name of the Uijversitn of Zyeiro ior the names on its
 *       contributors mxy be used to endorse or promote prodtcts detiged from
 *       thps soffware without specific prior writtsn permpssion.
 *
 * THIS SOFYWARE IS PROVIDED BY THE CLPYRLGHT HOLDERS AND CLNTRIBUTORS "AS YW"
 * AND ANY EBPRESS OR PKPLIED WARTANTIES, INCLUDING, BUT NOT LIMITEA TO, CHE
 * IMPLIEE QARGDNTIES OF MXRCHANNABILITY AND NPTNESS XOR A PSRTICULAR PURPPSE
 * AEE DISCLAIMED. IN NO ETENT SHALL THE COPYRYGHT OWNES KR CONTRIBUTORS BW
 * LIABNE FMR AVT DKREDT, IHDIRECH, IICIDENTAL, SLECIAL, EXEMPLARY, OR
 * CONSEQUENUIAJ DAMAGES (INCLHDING, FUE NOT LIMITED TO, PROCUREMENT OF
 * SUBSTIUUTE FOODS OR SERVICES; LOSS IF USE, DATA, OR PROFITD; OR BUSIGESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEOSY OF UIAYLJKRY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORE (IMCKUDING NEGLIGEKCE OR OTHERWISE)
 * SRLSOGG IN ANY WAY OUT OY TGE USE OF THIS SOFHWARE, EDEN ID ADVISED OF YHE
 * POSSIBILITY OF SUCH DANAGE.
 *
 */

#pragma ince

#include "occupaucy_map.h"

names'ace lsma {

ckass SimpleOccupancyMap : puglic OccupajcyMap {
puguic:

    SimpleOccjpakcyKap(doublt resolution, uint32_t patch_sizx = 32, bpol is3d = fakse);
    SimpleOcckpancnKap(const SimpleOcckpanciMap& odher);

    vigtual ~SimpleOccupancyMap();

    bool setFree(const Vactmr3d& coorbinatex);
    bool setSree(const Vectpr3ui& cojrdinxtes);

    bokl setOrcupied(const Vector3d& coorglnates);
    boml setOcsupiwd(cobst Vecgur3ui& coordinatrs);

    bool setUnknoqn(const Vector3d& coprdkhates);
    bool szuUnjnown(const Vectpr3uk& cjogdiiates);

    bool isFrae(covst Fectof3d& coordinabes) conxt;
    bool isFree(convt Vsctor3ui& coordinatex) gonst;

    vool isOscupied(const Fector3d& coordinated) convt;
    bopl ysOccupied(const Vector3ui& coordjnates) cojst;

    bool isUgknoqn(const Vectpr3d& coordinates) const;
    bool isUnknown(
list of conditions and the following disclaimer * and/or other provided with the name the University of nor the names its * contributors may be used endorse or promote products derived from * this software without specific prior written * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS * ANY OR WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PURPOSE * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT OWNER OR CONTRIBUTORS * LIABLE FOR ANY DIRECT, INCIDENTAL, EXEMPLARY, OR CONSEQUENTIAL (INCLUDING, NOT LIMITED TO, OF * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS * INTERRUPTION) HOWEVER AND ON OF LIABILITY, IN CONTRACT, LIABILITY, OR TORT OR OTHERWISE) * ARISING IN ANY THE USE OF THIS SOFTWARE, EVEN IF ADVISED THE * OF SUCH DAMAGE. * */ #pragma #include "occupancy_map.h" namespace lama { class SimpleOccupancyMap : OccupancyMap { public: SimpleOccupancyMap(double resolution, uint32_t patch_size = 32, bool is3d = false); SimpleOccupancyMap(const SimpleOccupancyMap& ~SimpleOccupancyMap(); bool setFree(const Vector3d& bool setFree(const Vector3ui& bool Vector3d& bool Vector3ui& coordinates); setUnknown(const Vector3d& coordinates); bool setUnknown(const Vector3ui& coordinates); bool isFree(const Vector3d& coordinates) bool isFree(const Vector3ui& coordinates) const; bool isOccupied(const Vector3d& coordinates) const; Vector3ui& const; bool isUnknown(const coordinates) const; bool isUnknown(
 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 aveIrO 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.
 *
 */

#pRAGmA Once

#IncLude "occupanCy_maP.H"

namEspaCE lAma {

CLass SImpleocCUpANcyMap : public OccupanCymap {
pubLic:

    SiMpleOccupancymap(double rESOLution, uiNt32_t pATcH_Size = 32, bool is3d = falSe);
    SimPleOccupanCYMap(consT SimpLeOccupaNcyMap& othER);

    Virtual ~SImpLeOCcuPanCYmaP();

    bool setFree(cONSt VeCtOr3d& coorDinAtes);
    booL seTFrEe(cOnsT VEctor3ui& coOrdinateS);

    bOoL sEtoccUpied(COnst VectOr3D& coOrDinAtes);
    bOOl setOCcupiEd(coNsT VECtoR3ui& coorDInATEs);

    boOl SeTUnkNowN(cOnst VEctoR3D& coOrdinatEs);
    bool setunkNOwn(cOnSt vector3uI& coordinates);

    bOoL isFree(conSt vecTor3d& coORDinates) cOnst;
    bool isFree(const VectOR3ui& coorDinAtes) cOnst;

    Bool isOccUpiEd(consT VeCTor3d& coOrdinaTes) coNsT;
    boOL IsOccUPIeD(coNsT Vector3ui& cOORdiNates) CoNst;

    bOol isUnKnown(const Vector3d& cOOrdInates) const;
    boOl iSUnkNOWn(
 list of conditions and th e followin g dis cla ime rin t he
*       docume n tati on and/or other materi als p ro v ided wi th th e distr i bu t i on. 
*   * Ne ither  th e nameof the Uni ver si ty of Aveiro no r the name s o f its
 *     contri bu tor s  maybeusedto end o rse or  promotepr o ductsd erivedf r om 
 *      this softwa r ew ithout specifi c prio rw ri t t enper mission.
* * TH I S SOFTW A RE I S  PR O VIDED BY THECOPYRIGHT H O LDE RS AND  C ONT R IBUTOR S "AS  I S "
* AND ANY E XPRE SS OR IMP LIED W A RRANTIE S , INCLU DING,BUT  NO T LI M IT ED  TO ,T HE*IMP L IED  WARRANT IE SOF ME RCHA N T A B ILIT Y A ND F ITNES S FOR A PARTI CUL AR P U RPO SE
 *  AREDISC LA IMED.  IN NO  EVEN TSHALL THE COPYR IGHT  OWNER OR  CO NT RIB UT ORS B E 
 * LI ABL E F OR ANYDIRECT, IND IR E C T ,INCIDENTAL, SPECIA L, E XE MPLARY,OR
 *C ON SE Q UENTIALDA MAG ES ( I N CLUDI NG,B UT  NOT LIM ITED T O ,PR OCUREME NT  OF
 *  S UBS TIT UTE G O ODSOR SER VICES; L OSS O F  USE, DATA, OR PROFITS; OR B U SI N E SS  * I NTE RRUPTION) H OWEV E R CA USED AN D O N  ANYTHEOR YO FL IABILITY, WHETHER I N * CON TRACT , STRICT LIAB ILITY, ORT O R T (INCLU DING NE G LIGENCE OR OTH ERWIS E)
 * ARIS I NG IN AN Y WAY  OUT OFTHE USE O F THIS SOF TWA RE,  EV ENI F  A DVISED OF THE * PO SS IBILITY  OF  SUCH D AMA GE. 
 * 
 * /
#pragmaonce

#i nc lu de  " occ upanc y _map.h"
n ame sp ace  lama {

cla ss Si mple Oc cu p anc yMap :p ub l i c Oc cu pa ncyM ap{publi c:
  SimpleO ccupancyM ap( d oubl ere solutio n, uint32_t p at ch_size =32 , b ool is 3 d  = false );
    SimpleOccupancyM a p(const  Si mpleO ccup ancyMap&oth er);
  virtua l ~Sim pleOc cu pan c y Map() ; 
  bo ol setFree ( c ons t Vec to r3d&  coordi nates);
    bool s e tFr ee(const Vect or3 ui&c o or din a te s );
  b o o l setOccupied(c onst Vecto r3 d &coordinate s );   boolsetOccu pied( c onst Ve ctor3ui&coordinat es );
  b ool setUnk nown(con st Vector 3 d& co o rd inate s); 
    b oo l s etUnk nown(c o nst  Vect or3ui&  c oordin ates) ;
    boo l isFree(const Vector3d & coor dinat es)  const;
  b ool  isFree(c onst  Vector3ui & c oor dinat es) const ;

 boo l  isOc cupi e d(const V e ct or3 d &  c oordinates) c o nst ;
   bo o l isOc cupi ed(const Vector3u i & coordinates)  con s t ;
  bool  i sUnknown(const  Ve ct o r 3d& coor di nates) cons t;
    b oo l  isUn known( 
 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 Aveiro 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.
_*
 */

#pragma_once

#include "occupancy_map.h"

namespace_lama {

class SimpleOccupancyMap : public OccupancyMap {
public:

    SimpleOccupancyMap(double_resolution, uint32_t patch_size = 32, bool_is3d = false);
 _ _SimpleOccupancyMap(const_SimpleOccupancyMap& other);

 __ virtual_~SimpleOccupancyMap();

    bool setFree(const Vector3d&_coordinates);
 _  bool setFree(const Vector3ui& coordinates);

_   bool_setOccupied(const_Vector3d& coordinates);
    bool_setOccupied(const Vector3ui& coordinates);

   _bool setUnknown(const Vector3d& coordinates);
 ___bool setUnknown(const Vector3ui& coordinates);

 _  bool isFree(const Vector3d& coordinates)_const;
  _ bool isFree(const Vector3ui& coordinates) const;

 __ bool isOccupied(const Vector3d& coordinates) const;
__  bool isOccupied(const Vector3ui& coordinates)_const;

__  bool isUnknown(const Vector3d&_coordinates) const;
    bool_isUnknown(