text: /*
   * IRIS Localization and Mapping (LaMa)
   *
   * Copyright (c) 2019-today, Eurico Pedrosa, University of Aveiro - Portugal
   * 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 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(const Vector3ui& coordinates) const;
  
      double getProbability(const Vector3d& coordinates) const;
      double getProbability(const Vector3ui& coordinates) const;
  
  protected:
  
      /**
       * Write internal parameters of the map.
       */
      void writeParameters(std::ofstream& stream) const
      {}
  
      /**
       * Read internal parameters of the map.
       */
      void readParameters(std::ifstream& stream)
      {}
  
  private:
      SimpleOccupancyMap& operator=(const SimpleOccupancyMap& other);
  };
  
  } /* lama */
  
  