/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2015, 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_NODE_H
#define OCTOMAP_MAP_NODE_H

// $Id: MapNode.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 <string>
#include <mrpt/otherlibs/octomap/OcTree.h>

namespace octomap {

  template <class TREETYPE>
    class MapNode {
    
  public:
    MapNode();
    MapNode(TREETYPE* node_map, pose6d origin);
    MapNode(std::string filename, pose6d origin);
    MapNode(const Pointcloud& cloud, pose6d origin);
    ~MapNode();

    typedef TREETYPE TreeType;

    TREETYPE* getMap() { return  node_map; }
    
    void updateMap(const Pointcloud& cloud, point3d sensor_origin);

    inline std::string getId() { return id; }
    inline void setId(std::string newid) { id = newid; }

    inline pose6d getOrigin() { return origin; }

    // returns cloud of voxel centers in global reference frame
    Pointcloud generatePointcloud();
    bool writeMap(std::string filename);

  protected:
    TREETYPE*    node_map;  // occupancy grid map
    pose6d       origin;    // origin and orientation relative to parent
    std::string  id;

    void clear();
    bool readMap(std::string filename);

  };

} // end namespace

#include "mrpt/otherlibs/octomap/MapNode.hxx"

#endif
