quad_tree.hpp

#pragma once
 
// TODO(rolland): issue #15 implement quadtree for storing obstacles, currently just a vector
 
#include "vipra/macros/map.hpp"
#include "vipra/macros/module.hpp"
#include "vipra/macros/parameters.hpp"
 
#include "vipra/modules/map.hpp"
#include "vipra/modules/module.hpp"
 
namespace VIPRA::Map {
class QuadTree : public VIPRA::Modules::Module<QuadTree>, public VIPRA::Modules::Map {
 public:
  VIPRA_MODULE_NAME("QuadTree");
  VIPRA_MODULE_TYPE(Map);
 
  VIPRA_REGISTER_PARAMS(VIPRA_PARAM("minQuadSize", _obsDistance))
 
  VIPRA_MAP_INIT {}
 
  VIPRA_MAP_RESET {}
 
 private:
  VIPRA::f_pnt _obsDistance{};
};
}  // namespace VIPRA::Map