/* +---------------------------------------------------------------------------+
   |                     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_OCTREE_NODE_H
#define OCTOMAP_OCTREE_NODE_H

// $Id: OcTreeNode.h 315 2011-10-17 15:06:59Z 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 "octomap_types.h"
#include "octomap_utils.h"
#include "OcTreeDataNode.h"
#include <limits>
#include <mrpt/maps/link_pragmas.h>  // For DLL export within mrpt-maps via the MAPS_IMPEXP macro

namespace octomap {

  /**
   * Nodes to be used in OcTree. They represent 3d occupancy grid cells.
   * "value" stores their log-odds occupancy.
   *
   * Hint: If a class is derived from OcTreeNode, you have to implement (at least) 
   * createChild, getChild, and getChild const. See OcTreeNodeLabeled for an example.
   *
   */
  class /*MAPS_IMPEXP*/ OcTreeNode : public OcTreeDataNode<float> {

  public:
    OcTreeNode();
    ~OcTreeNode();

    bool createChild(unsigned int i);

    // overloaded, so that the return type is correct:
    inline OcTreeNode* getChild(unsigned int i) {
      return static_cast<OcTreeNode*> (OcTreeDataNode<float>::getChild(i));
    }
    inline const OcTreeNode* getChild(unsigned int i) const {
      return static_cast<const OcTreeNode*> (OcTreeDataNode<float>::getChild(i));
    }

    // -- node occupancy  ----------------------------

    /// \return occupancy probability of node
    inline double getOccupancy() const { return probability(value); }

    /// \return log odds representation of occupancy probability of node
    inline float getLogOdds() const{ return value; }
    /// sets log odds occupancy of node
    inline void setLogOdds(float l) { value = l; }

    /**
     * @return mean of all children's occupancy probabilities, in log odds
     */
    double getMeanChildLogOdds() const;

    /**
     * @return maximum of children's occupancy probabilities, in log odds
     */
    float getMaxChildLogOdds() const;

    /// update this node's occupancy according to its children's maximum occupancy
    inline void updateOccupancyChildren() {
      this->setLogOdds(this->getMaxChildLogOdds());  // conservative
    }

    /// adds p to the node's logOdds value (with no boundary / threshold checking!)
    void addValue(const float& p);
    

  protected:
    // "value" stores log odds occupancy probability
  };

} // end namespace

#endif
