Node.h

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/*
 *  Copyright (C) 2012 Josh Bialkowski (jbialk@mit.edu)
 *
 *  This file is part of mpblocks.
 *
 *  mpblocks is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.
 *
 *  mpblocks is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with mpblocks.  If not, see <http://www.gnu.org/licenses/>.
 */
#ifndef MPBLOCKS_KD_TREE_NODE_H_
#define MPBLOCKS_KD_TREE_NODE_H_


namespace mpblocks {
namespace  kd_tree {


template <class Traits>
class Node
{
    public:
        // these just shorten up some of the templated classes into smaller
        // names
        typedef typename Traits::Format_t    Format_t;
        typedef typename Traits::Node        Node_t;
        typedef typename Traits::HyperRect   HyperRect_t;


        typedef Eigen::Matrix<Format_t,Traits::NDim,1>  Vector_t;
        typedef Vector_t                                Point_t;

        typedef Node<Traits>                        This_t;
        typedef ListPair<Traits>                    Pair_t;

        typedef NearestSearchIface<Traits>          NNIface_t;
        typedef RangeSearchIface<Traits>            RangeIface_t;

    protected:
        unsigned int m_i;    
        Point_t     m_point;        
        Node_t*     m_parent;       
        Node_t*     m_smallerChild; 
        Node_t*     m_greaterChild; 
        Node_t*     m_this;

    public:
        Node();


        void construct( Node_t* parent, unsigned int  i );

        void setPoint( const Point_t& p );

        const Point_t& getPoint();

        Node_t* getParent(){ return m_parent; }

        void insert( Node_t*  );


        void findNearest( const Point_t& q,
                           HyperRect_t& rect,
                           NNIface_t& search );

        void findRange( RangeIface_t& search, HyperRect_t& rect );

        template <typename BackInserter >
        void enumerate( HyperRect_t& container, BackInserter bs );

};


} // namespace kd_tree
} // mpblocks

#endif