octomap::AbstractOccupancyOcTree Class Reference

Detailed Description

Interface class for all octree types that store occupancy.

This serves as a common base class e.g. for polymorphism and contains common code for reading and writing binary trees.

Definition at line 66 of file AbstractOccupancyOcTree.h.

#include <mrpt/otherlibs/octomap/AbstractOccupancyOcTree.h>

Inheritance diagram for octomap::AbstractOccupancyOcTree:

Public Member Functions
	AbstractOccupancyOcTree ()
virtual	~AbstractOccupancyOcTree ()
bool	writeBinary (const std::string &filename)
	Writes OcTree to a binary file using writeBinary(). More...
bool	writeBinary (std::ostream &s)
	Writes compressed maximum likelihood OcTree to a binary stream. More...
bool	writeBinaryConst (const std::string &filename) const
	Writes OcTree to a binary file using writeBinaryConst(). More...
bool	writeBinaryConst (std::ostream &s) const
	Writes the maximum likelihood OcTree to a binary stream (const variant). More...
virtual std::ostream &	writeBinaryData (std::ostream &s) const =0
	Writes the actual data, implemented in OccupancyOcTreeBase::writeBinaryData() More...
bool	readBinary (std::istream &s)
	Reads an OcTree from an input stream. More...
bool	readBinary (const std::string &filename)
	Reads OcTree from a binary file. More...
virtual std::istream &	readBinaryData (std::istream &s)=0
	Reads the actual data, implemented in OccupancyOcTreeBase::readBinaryData() More...
bool	isNodeOccupied (const OcTreeNode *occupancyNode) const
	queries whether a node is occupied according to the tree's parameter for "occupancy" More...
bool	isNodeOccupied (const OcTreeNode &occupancyNode) const
	queries whether a node is occupied according to the tree's parameter for "occupancy" More...
bool	isNodeAtThreshold (const OcTreeNode *occupancyNode) const
	queries whether a node is at the clamping threshold according to the tree's parameter More...
bool	isNodeAtThreshold (const OcTreeNode &occupancyNode) const
	queries whether a node is at the clamping threshold according to the tree's parameter More...
virtual OcTreeNode *	updateNode (const OcTreeKey &key, float log_odds_update, bool lazy_eval=false)=0
	Manipulate log_odds value of voxel directly. More...
virtual OcTreeNode *	updateNode (const point3d &value, float log_odds_update, bool lazy_eval=false)=0
	Manipulate log_odds value of voxel directly. More...
virtual OcTreeNode *	updateNode (const OcTreeKey &key, bool occupied, bool lazy_eval=false)=0
	Integrate occupancy measurement. More...
virtual OcTreeNode *	updateNode (const point3d &value, bool occupied, bool lazy_eval=false)=0
	Integrate occupancy measurement. More...
virtual void	toMaxLikelihood ()=0
void	setOccupancyThres (double prob)
	sets the threshold for occupancy (sensor model) More...
void	setProbHit (double prob)
	sets the probablility for a "hit" (will be converted to logodds) - sensor model More...
void	setProbMiss (double prob)
	sets the probablility for a "miss" (will be converted to logodds) - sensor model More...
void	setClampingThresMin (double thresProb)
	sets the minimum threshold for occupancy clamping (sensor model) More...
void	setClampingThresMax (double thresProb)
	sets the maximum threshold for occupancy clamping (sensor model) More...
double	getOccupancyThres () const
float	getOccupancyThresLog () const
double	getProbHit () const
float	getProbHitLog () const
double	getProbMiss () const
float	getProbMissLog () const
double	getClampingThresMin () const
float	getClampingThresMinLog () const
double	getClampingThresMax () const
float	getClampingThresMaxLog () const
virtual AbstractOcTree *	create () const =0
	virtual constructor: creates a new object of same type More...
virtual std::string	getTreeType () const =0
	returns actual class name as string for identification More...
virtual double	getResolution () const =0
virtual void	setResolution (double res)=0
virtual size_t	size () const =0
virtual size_t	memoryUsage () const =0
virtual size_t	memoryUsageNode () const =0
virtual void	getMetricMin (double &x, double &y, double &z)=0
virtual void	getMetricMin (double &x, double &y, double &z) const =0
virtual void	getMetricMax (double &x, double &y, double &z)=0
virtual void	getMetricMax (double &x, double &y, double &z) const =0
virtual void	getMetricSize (double &x, double &y, double &z)=0
virtual void	prune ()=0
virtual void	expand ()=0
virtual void	clear ()=0
bool	write (const std::string &filename) const
	Write file header and complete tree to file (serialization) More...
bool	write (std::ostream &s) const
	Write file header and complete tree to stream (serialization) More...
virtual std::istream &	readData (std::istream &s)=0
	Read all nodes from the input stream (without file header), for this the tree needs to be already created. More...
virtual std::ostream &	writeData (std::ostream &s) const =0
	Write complete state of tree to stream (without file header) unmodified. More...

Static Public Member Functions
static AbstractOcTree *	createTree (const std::string id, double res)
	Creates a certain OcTree (factory pattern) More...
static AbstractOcTree *	read (const std::string &filename)
	Read the file header, create the appropriate class and deserialize. More...
static AbstractOcTree *	read (std::istream &s)
	Read the file header, create the appropriate class and deserialize. More...

Protected Member Functions
bool	readBinaryLegacyHeader (std::istream &s, unsigned int &size, double &res)
	Try to read the old binary format for conversion, will be removed in the future. More...

Static Protected Member Functions
static bool	readHeader (std::istream &s, std::string &id, unsigned &size, double &res)
static void	registerTreeType (AbstractOcTree *tree)

Protected Attributes
float	clamping_thres_min
float	clamping_thres_max
float	prob_hit_log
float	prob_miss_log
float	occ_prob_thres_log

Static Protected Attributes
static const std::string	binaryFileHeader
static const std::string	fileHeader

Constructor & Destructor Documentation

octomap::AbstractOccupancyOcTree::AbstractOccupancyOcTree

(

)

virtual octomap::AbstractOccupancyOcTree::~AbstractOccupancyOcTree ( )

inlinevirtual

Definition at line 69 of file AbstractOccupancyOcTree.h.

Member Function Documentation

virtual void octomap::AbstractOcTree::clear ( )

pure virtualinherited

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

virtual AbstractOcTree* octomap::AbstractOcTree::create ( ) const

pure virtualinherited

virtual constructor: creates a new object of same type

Implemented in octomap::ColorOcTree, octomap::OcTreeStamped, octomap::OcTree, octomap::OcTreeBase< NODE >, and octomap::OcTreeBase< CountingOcTreeNode >.

static AbstractOcTree* octomap::AbstractOcTree::createTree ( const std::string  id, double  res  )

staticinherited

Creates a certain OcTree (factory pattern)

Parameters

id	unique ID of OcTree
res	resolution of OcTree

Returns

pointer to newly created OcTree (empty). NULL if the ID is unknown!

virtual void octomap::AbstractOcTree::expand ( )

pure virtualinherited

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

double octomap::AbstractOccupancyOcTree::getClampingThresMax ( ) const

inline

Returns

maximum threshold for occupancy clamping in the sensor model (probability)

Definition at line 231 of file AbstractOccupancyOcTree.h.

References clamping_thres_max, and octomap::probability().

float octomap::AbstractOccupancyOcTree::getClampingThresMaxLog ( ) const

inline

Returns

maximum threshold for occupancy clamping in the sensor model (logodds)

Definition at line 233 of file AbstractOccupancyOcTree.h.

References clamping_thres_max.

double octomap::AbstractOccupancyOcTree::getClampingThresMin ( ) const

inline

Returns

minimum threshold for occupancy clamping in the sensor model (probability)

Definition at line 227 of file AbstractOccupancyOcTree.h.

References clamping_thres_min, and octomap::probability().

float octomap::AbstractOccupancyOcTree::getClampingThresMinLog ( ) const

inline

Returns

minimum threshold for occupancy clamping in the sensor model (logodds)

Definition at line 229 of file AbstractOccupancyOcTree.h.

References clamping_thres_min.

virtual void octomap::AbstractOcTree::getMetricMax ( double &  x, double &  y, double &  z  )

pure virtualinherited

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

virtual void octomap::AbstractOcTree::getMetricMax ( double &  x, double &  y, double &  z  ) const

pure virtualinherited

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

virtual void octomap::AbstractOcTree::getMetricMin ( double &  x, double &  y, double &  z  )

pure virtualinherited

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

virtual void octomap::AbstractOcTree::getMetricMin ( double &  x, double &  y, double &  z  ) const

pure virtualinherited

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

virtual void octomap::AbstractOcTree::getMetricSize ( double &  x, double &  y, double &  z  )

pure virtualinherited

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

double octomap::AbstractOccupancyOcTree::getOccupancyThres ( ) const

inline

Returns

threshold (probability) for occupancy - sensor model

Definition at line 213 of file AbstractOccupancyOcTree.h.

References occ_prob_thres_log, and octomap::probability().

float octomap::AbstractOccupancyOcTree::getOccupancyThresLog ( ) const

inline

Returns

threshold (logodds) for occupancy - sensor model

Definition at line 215 of file AbstractOccupancyOcTree.h.

References occ_prob_thres_log.

double octomap::AbstractOccupancyOcTree::getProbHit ( ) const

inline

Returns

probablility for a "hit" in the sensor model (probability)

Definition at line 218 of file AbstractOccupancyOcTree.h.

References prob_hit_log, and octomap::probability().

float octomap::AbstractOccupancyOcTree::getProbHitLog ( ) const

inline

Returns

probablility for a "hit" in the sensor model (logodds)

Definition at line 220 of file AbstractOccupancyOcTree.h.

References prob_hit_log.

double octomap::AbstractOccupancyOcTree::getProbMiss ( ) const

inline

Returns

probablility for a "miss" in the sensor model (probability)

Definition at line 222 of file AbstractOccupancyOcTree.h.

References prob_miss_log, and octomap::probability().

float octomap::AbstractOccupancyOcTree::getProbMissLog ( ) const

inline

Returns

probablility for a "miss" in the sensor model (logodds)

Definition at line 224 of file AbstractOccupancyOcTree.h.

References prob_miss_log.

virtual double octomap::AbstractOcTree::getResolution ( ) const

pure virtualinherited

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

virtual std::string octomap::AbstractOcTree::getTreeType ( ) const

pure virtualinherited

returns actual class name as string for identification

Implemented in octomap::ColorOcTree, octomap::OcTreeStamped, octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTree, octomap::OcTreeBase< NODE >, and octomap::OcTreeBase< CountingOcTreeNode >.

bool octomap::AbstractOccupancyOcTree::isNodeAtThreshold ( const OcTreeNode *  occupancyNode ) const

inline

queries whether a node is at the clamping threshold according to the tree's parameter

Definition at line 138 of file AbstractOccupancyOcTree.h.

References clamping_thres_max, clamping_thres_min, and octomap::OcTreeNode::getLogOdds().

bool octomap::AbstractOccupancyOcTree::isNodeAtThreshold ( const OcTreeNode &  occupancyNode ) const

inline

queries whether a node is at the clamping threshold according to the tree's parameter

Definition at line 144 of file AbstractOccupancyOcTree.h.

References clamping_thres_max, clamping_thres_min, and octomap::OcTreeNode::getLogOdds().

bool octomap::AbstractOccupancyOcTree::isNodeOccupied ( const OcTreeNode *  occupancyNode ) const

inline

queries whether a node is occupied according to the tree's parameter for "occupancy"

Definition at line 128 of file AbstractOccupancyOcTree.h.

References octomap::OcTreeNode::getLogOdds(), and occ_prob_thres_log.

bool octomap::AbstractOccupancyOcTree::isNodeOccupied ( const OcTreeNode &  occupancyNode ) const

inline

queries whether a node is occupied according to the tree's parameter for "occupancy"

Definition at line 133 of file AbstractOccupancyOcTree.h.

References octomap::OcTreeNode::getLogOdds(), and occ_prob_thres_log.

virtual size_t octomap::AbstractOcTree::memoryUsage ( ) const

pure virtualinherited

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

virtual size_t octomap::AbstractOcTree::memoryUsageNode ( ) const

pure virtualinherited

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

virtual void octomap::AbstractOcTree::prune ( )

pure virtualinherited

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

static AbstractOcTree* octomap::AbstractOcTree::read ( const std::string &  filename )

staticinherited

Read the file header, create the appropriate class and deserialize.

This creates a new octree which you need to delete yourself. If you expect or requre a specific kind of octree, use dynamic_cast afterwards:

AbstractOcTree* tree = AbstractOcTree::read("filename.ot");
OcTree* octree = dynamic_cast<OcTree*>(tree);

static AbstractOcTree* octomap::AbstractOcTree::read ( std::istream &  s )

staticinherited

Read the file header, create the appropriate class and deserialize.

This creates a new octree which you need to delete yourself.

bool octomap::AbstractOccupancyOcTree::readBinary

(

std::istream &

s

)

Reads an OcTree from an input stream.

Existing nodes of the tree are deleted before the tree is read.

Returns

success of operation

bool octomap::AbstractOccupancyOcTree::readBinary

(

const std::string &

filename

)

Reads OcTree from a binary file.

Existing nodes of the tree are deleted before the tree is read.

Returns

success of operation

virtual std::istream& octomap::AbstractOccupancyOcTree::readBinaryData ( std::istream &  s )

pure virtual

Reads the actual data, implemented in OccupancyOcTreeBase::readBinaryData()

Implemented in octomap::OccupancyOcTreeBase< NODE >, octomap::OccupancyOcTreeBase< ColorOcTreeNode >, octomap::OccupancyOcTreeBase< OcTreeNode >, and octomap::OccupancyOcTreeBase< OcTreeNodeStamped >.

bool octomap::AbstractOccupancyOcTree::readBinaryLegacyHeader ( std::istream &  s, unsigned int &  size, double &  res  )

protected

Try to read the old binary format for conversion, will be removed in the future.

virtual std::istream& octomap::AbstractOcTree::readData ( std::istream &  s )

pure virtualinherited

Read all nodes from the input stream (without file header), for this the tree needs to be already created.

For general file IO, you should probably use AbstractOcTree::read() instead.

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

static bool octomap::AbstractOcTree::readHeader ( std::istream &  s, std::string &  id, unsigned &  size, double &  res  )

staticprotectedinherited

static void octomap::AbstractOcTree::registerTreeType ( AbstractOcTree *  tree )

staticprotectedinherited

Referenced by octomap::OcTree::StaticMemberInitializer::StaticMemberInitializer(), octomap::CountingOcTree::StaticMemberInitializer::StaticMemberInitializer(), octomap::OcTreeStamped::StaticMemberInitializer::StaticMemberInitializer(), and octomap::ColorOcTree::StaticMemberInitializer::StaticMemberInitializer().

void octomap::AbstractOccupancyOcTree::setClampingThresMax ( double  thresProb )

inline

sets the maximum threshold for occupancy clamping (sensor model)

Definition at line 210 of file AbstractOccupancyOcTree.h.

References clamping_thres_max, and octomap::logodds().

void octomap::AbstractOccupancyOcTree::setClampingThresMin ( double  thresProb )

inline

sets the minimum threshold for occupancy clamping (sensor model)

Definition at line 208 of file AbstractOccupancyOcTree.h.

References clamping_thres_min, and octomap::logodds().

void octomap::AbstractOccupancyOcTree::setOccupancyThres ( double  prob )

inline

sets the threshold for occupancy (sensor model)

Definition at line 202 of file AbstractOccupancyOcTree.h.

References octomap::logodds(), and occ_prob_thres_log.

void octomap::AbstractOccupancyOcTree::setProbHit ( double  prob )

inline

sets the probablility for a "hit" (will be converted to logodds) - sensor model

Definition at line 204 of file AbstractOccupancyOcTree.h.

References octomap::logodds(), and prob_hit_log.

void octomap::AbstractOccupancyOcTree::setProbMiss ( double  prob )

inline

sets the probablility for a "miss" (will be converted to logodds) - sensor model

Definition at line 206 of file AbstractOccupancyOcTree.h.

References octomap::logodds(), and prob_miss_log.

virtual void octomap::AbstractOcTree::setResolution ( double  res )

pure virtualinherited

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

virtual size_t octomap::AbstractOcTree::size ( ) const

pure virtualinherited

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

virtual void octomap::AbstractOccupancyOcTree::toMaxLikelihood ( )

pure virtual

Implemented in octomap::OccupancyOcTreeBase< NODE >, octomap::OccupancyOcTreeBase< ColorOcTreeNode >, octomap::OccupancyOcTreeBase< OcTreeNode >, and octomap::OccupancyOcTreeBase< OcTreeNodeStamped >.

virtual OcTreeNode* octomap::AbstractOccupancyOcTree::updateNode ( const OcTreeKey &  key, float  log_odds_update, bool  lazy_eval = false  )

pure virtual

Manipulate log_odds value of voxel directly.

Parameters

key	of the NODE that is to be updated
log_odds_update	value to be added (+) to log_odds value of node
lazy_eval	whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns

pointer to the updated NODE

Implemented in octomap::OccupancyOcTreeBase< NODE >, octomap::OccupancyOcTreeBase< ColorOcTreeNode >, octomap::OccupancyOcTreeBase< OcTreeNode >, and octomap::OccupancyOcTreeBase< OcTreeNodeStamped >.

virtual OcTreeNode* octomap::AbstractOccupancyOcTree::updateNode ( const point3d &  value, float  log_odds_update, bool  lazy_eval = false  )

pure virtual

Manipulate log_odds value of voxel directly.

Looks up the OcTreeKey corresponding to the coordinate and then calls udpateNode() with it.

Parameters

value	3d coordinate of the NODE that is to be updated
log_odds_update	value to be added (+) to log_odds value of node
lazy_eval	whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns

pointer to the updated NODE

Implemented in octomap::OccupancyOcTreeBase< NODE >, octomap::OccupancyOcTreeBase< ColorOcTreeNode >, octomap::OccupancyOcTreeBase< OcTreeNode >, and octomap::OccupancyOcTreeBase< OcTreeNodeStamped >.

virtual OcTreeNode* octomap::AbstractOccupancyOcTree::updateNode ( const OcTreeKey &  key, bool  occupied, bool  lazy_eval = false  )

pure virtual

Integrate occupancy measurement.

Parameters

key	of the NODE that is to be updated
occupied	true if the node was measured occupied, else false
lazy_eval	whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns

pointer to the updated NODE

Implemented in octomap::OccupancyOcTreeBase< NODE >, octomap::OccupancyOcTreeBase< ColorOcTreeNode >, octomap::OccupancyOcTreeBase< OcTreeNode >, and octomap::OccupancyOcTreeBase< OcTreeNodeStamped >.

virtual OcTreeNode* octomap::AbstractOccupancyOcTree::updateNode ( const point3d &  value, bool  occupied, bool  lazy_eval = false  )

pure virtual

Integrate occupancy measurement.

Looks up the OcTreeKey corresponding to the coordinate and then calls udpateNode() with it.

Parameters

value	3d coordinate of the NODE that is to be updated
occupied	true if the node was measured occupied, else false
lazy_eval	whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns

pointer to the updated NODE

Implemented in octomap::OccupancyOcTreeBase< NODE >, octomap::OccupancyOcTreeBase< ColorOcTreeNode >, octomap::OccupancyOcTreeBase< OcTreeNode >, and octomap::OccupancyOcTreeBase< OcTreeNodeStamped >.

bool octomap::AbstractOcTree::write ( const std::string &  filename ) const

inherited

Write file header and complete tree to file (serialization)

bool octomap::AbstractOcTree::write ( std::ostream &  s ) const

inherited

Write file header and complete tree to stream (serialization)

bool octomap::AbstractOccupancyOcTree::writeBinary

(

const std::string &

filename

)

Writes OcTree to a binary file using writeBinary().

The OcTree is first converted to the maximum likelihood estimate and pruned.

Returns

success of operation

bool octomap::AbstractOccupancyOcTree::writeBinary

(

std::ostream &

s

)

Writes compressed maximum likelihood OcTree to a binary stream.

The OcTree is first converted to the maximum likelihood estimate and pruned for maximum compression.

Returns

success of operation

bool octomap::AbstractOccupancyOcTree::writeBinaryConst

(

const std::string &

filename

)

const

Writes OcTree to a binary file using writeBinaryConst().

The OcTree is not changed, in particular not pruned first. Files will be smaller when the tree is pruned first or by using writeBinary() instead.

Returns

success of operation

bool octomap::AbstractOccupancyOcTree::writeBinaryConst

(

std::ostream &

s

)

const

Writes the maximum likelihood OcTree to a binary stream (const variant).

Files will be smaller when the tree is pruned first or by using writeBinary() instead.

Returns

success of operation

virtual std::ostream& octomap::AbstractOccupancyOcTree::writeBinaryData ( std::ostream &  s ) const

pure virtual

Writes the actual data, implemented in OccupancyOcTreeBase::writeBinaryData()

Implemented in octomap::OccupancyOcTreeBase< NODE >, octomap::OccupancyOcTreeBase< ColorOcTreeNode >, octomap::OccupancyOcTreeBase< OcTreeNode >, and octomap::OccupancyOcTreeBase< OcTreeNodeStamped >.

virtual std::ostream& octomap::AbstractOcTree::writeData ( std::ostream &  s ) const

pure virtualinherited

Write complete state of tree to stream (without file header) unmodified.

Pruning the tree first produces smaller files (lossless compression)

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >.

Member Data Documentation

const std::string octomap::AbstractOccupancyOcTree::binaryFileHeader

staticprotected

Definition at line 249 of file AbstractOccupancyOcTree.h.

float octomap::AbstractOccupancyOcTree::clamping_thres_max

protected

Definition at line 244 of file AbstractOccupancyOcTree.h.

Referenced by getClampingThresMax(), getClampingThresMaxLog(), isNodeAtThreshold(), and setClampingThresMax().

float octomap::AbstractOccupancyOcTree::clamping_thres_min

protected

Definition at line 243 of file AbstractOccupancyOcTree.h.

Referenced by getClampingThresMin(), getClampingThresMinLog(), isNodeAtThreshold(), and setClampingThresMin().

const std::string octomap::AbstractOcTree::fileHeader

staticprotectedinherited

Definition at line 169 of file AbstractOcTree.h.

float octomap::AbstractOccupancyOcTree::occ_prob_thres_log

protected

Definition at line 247 of file AbstractOccupancyOcTree.h.

Referenced by getOccupancyThres(), getOccupancyThresLog(), isNodeOccupied(), and setOccupancyThres().

float octomap::AbstractOccupancyOcTree::prob_hit_log

protected

Definition at line 245 of file AbstractOccupancyOcTree.h.

Referenced by getProbHit(), getProbHitLog(), and setProbHit().

float octomap::AbstractOccupancyOcTree::prob_miss_log

protected

Definition at line 246 of file AbstractOccupancyOcTree.h.

Referenced by getProbMiss(), getProbMissLog(), and setProbMiss().