octomap::ColorOcTreeNode Class Reference

Detailed Description

Definition at line 59 of file ColorOcTree.h.

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

Inheritance diagram for octomap::ColorOcTreeNode:

Classes
class	Color

Public Types
typedef float	DataType
	Make the templated data type available from the outside. More...

Public Member Functions
	ColorOcTreeNode ()
	ColorOcTreeNode (const ColorOcTreeNode &rhs)
bool	operator== (const ColorOcTreeNode &rhs) const
ColorOcTreeNode *	getChild (unsigned int i)
const ColorOcTreeNode *	getChild (unsigned int i) const
bool	createChild (unsigned int i)
bool	pruneNode ()
void	expandNode ()
Color	getColor () const
void	setColor (Color c)
void	setColor (unsigned char r, unsigned char g, unsigned char b)
Color &	getColor ()
bool	isColorSet () const
void	updateColorChildren ()
ColorOcTreeNode::Color	getAverageChildColor () const
std::istream &	readValue (std::istream &s)
std::ostream &	writeValue (std::ostream &s) const
double	getOccupancy () const
float	getLogOdds () const
void	setLogOdds (float l)
	sets log odds occupancy of node More...
double	getMeanChildLogOdds () const
float	getMaxChildLogOdds () const
void	updateOccupancyChildren ()
	update this node's occupancy according to its children's maximum occupancy More...
void	addValue (const float &p)
	adds p to the node's logOdds value (with no boundary / threshold checking!) More...
bool	operator== (const OcTreeDataNode &rhs) const
	Equals operator, compares if the stored value is identical. More...
bool	childExists (unsigned int i) const
bool	hasChildren () const
bool	collapsible () const
	A node is collapsible if all children exist, don't have children of their own and have the same occupancy value. More...
void	deleteChild (unsigned int i)
	Deletes the i-th child of the node. More...
float	getValue () const
void	setValue (floatv)
	sets value to be stored in the node More...

Protected Member Functions
void	allocChildren ()

Protected Attributes
Color	color
OcTreeDataNode< float > **	children
	pointer to array of children, may be NULL More...
float	value
	stored data (payload) More...

Member Typedef Documentation

typedef float octomap::OcTreeDataNode< float >::DataType

inherited

Make the templated data type available from the outside.

Definition at line 156 of file OcTreeDataNode.h.

Constructor & Destructor Documentation

octomap::ColorOcTreeNode::ColorOcTreeNode ( )

inline

Definition at line 77 of file ColorOcTree.h.

Referenced by createChild().

octomap::ColorOcTreeNode::ColorOcTreeNode ( const ColorOcTreeNode &  rhs )

inline

Definition at line 79 of file ColorOcTree.h.

Member Function Documentation

void octomap::OcTreeNode::addValue ( const float &  p )

inherited

adds p to the node's logOdds value (with no boundary / threshold checking!)

void octomap::OcTreeDataNode< float >::allocChildren ( )

protectedinherited

Referenced by octomap::OcTreeNodeStamped::createChild(), and createChild().

bool octomap::OcTreeDataNode< float >::childExists ( unsigned int  i ) const

inherited

Returns

true if the i-th child exists

bool octomap::OcTreeDataNode< float >::collapsible ( ) const

inherited

A node is collapsible if all children exist, don't have children of their own and have the same occupancy value.

bool octomap::ColorOcTreeNode::createChild ( unsigned int  i )

inline

Definition at line 93 of file ColorOcTree.h.

References octomap::OcTreeDataNode< float >::allocChildren(), octomap::OcTreeDataNode< float >::children, and ColorOcTreeNode().

void octomap::OcTreeDataNode< float >::deleteChild ( unsigned int  i )

inherited

Deletes the i-th child of the node.

void octomap::ColorOcTreeNode::expandNode

(

)

ColorOcTreeNode::Color octomap::ColorOcTreeNode::getAverageChildColor

(

)

const

ColorOcTreeNode* octomap::ColorOcTreeNode::getChild ( unsigned int  i )

inline

Definition at line 86 of file ColorOcTree.h.

References octomap::OcTreeNode::getChild().

const ColorOcTreeNode* octomap::ColorOcTreeNode::getChild ( unsigned int  i ) const

inline

Definition at line 89 of file ColorOcTree.h.

References octomap::OcTreeNode::getChild().

Color octomap::ColorOcTreeNode::getColor ( ) const

inline

Definition at line 102 of file ColorOcTree.h.

References color.

Color& octomap::ColorOcTreeNode::getColor ( )

inline

Definition at line 108 of file ColorOcTree.h.

References color.

float octomap::OcTreeNode::getLogOdds ( ) const

inlineinherited

Returns

log odds representation of occupancy probability of node

Definition at line 89 of file OcTreeNode.h.

References octomap::OcTreeDataNode< float >::value.

Referenced by octomap::AbstractOccupancyOcTree::isNodeAtThreshold(), and octomap::AbstractOccupancyOcTree::isNodeOccupied().

float octomap::OcTreeNode::getMaxChildLogOdds ( ) const

inherited

Returns

maximum of children's occupancy probabilities, in log odds

Referenced by octomap::OcTreeNodeStamped::updateOccupancyChildren(), and octomap::OcTreeNode::updateOccupancyChildren().

double octomap::OcTreeNode::getMeanChildLogOdds ( ) const

inherited

Returns

mean of all children's occupancy probabilities, in log odds

double octomap::OcTreeNode::getOccupancy ( ) const

inlineinherited

Returns

occupancy probability of node

Definition at line 86 of file OcTreeNode.h.

References octomap::probability(), and octomap::OcTreeDataNode< float >::value.

float octomap::OcTreeDataNode< float >::getValue ( ) const

inlineinherited

Returns

value stored in the node

Definition at line 129 of file OcTreeDataNode.h.

bool octomap::OcTreeDataNode< float >::hasChildren ( ) const

inherited

Returns

true if the node has at least one child

bool octomap::ColorOcTreeNode::isColorSet ( ) const

inline

Definition at line 111 of file ColorOcTree.h.

References octomap::ColorOcTreeNode::Color::b, color, octomap::ColorOcTreeNode::Color::g, and octomap::ColorOcTreeNode::Color::r.

bool octomap::ColorOcTreeNode::operator== ( const ColorOcTreeNode &  rhs ) const

inline

Definition at line 81 of file ColorOcTree.h.

References color, octomap::OcTreeDataNode< T >::value, and octomap::OcTreeDataNode< float >::value.

bool octomap::OcTreeDataNode< float >::operator== ( const OcTreeDataNode< float > &  rhs ) const

inherited

Equals operator, compares if the stored value is identical.

bool octomap::ColorOcTreeNode::pruneNode

(

)

std::istream& octomap::ColorOcTreeNode::readValue

(

std::istream &

s

)

void octomap::ColorOcTreeNode::setColor ( Color  c )

inline

Definition at line 103 of file ColorOcTree.h.

References color.

void octomap::ColorOcTreeNode::setColor ( unsigned char  r, unsigned char  g, unsigned char  b  )

inline

Definition at line 104 of file ColorOcTree.h.

References color.

void octomap::OcTreeNode::setLogOdds ( float  l )

inlineinherited

sets log odds occupancy of node

Definition at line 91 of file OcTreeNode.h.

References octomap::OcTreeDataNode< float >::value.

Referenced by octomap::OcTreeNodeStamped::updateOccupancyChildren(), and octomap::OcTreeNode::updateOccupancyChildren().

void octomap::OcTreeDataNode< float >::setValue ( float  v )

inlineinherited

sets value to be stored in the node

Definition at line 131 of file OcTreeDataNode.h.

void octomap::ColorOcTreeNode::updateColorChildren

(

)

void octomap::OcTreeNode::updateOccupancyChildren ( )

inlineinherited

update this node's occupancy according to its children's maximum occupancy

Definition at line 104 of file OcTreeNode.h.

References octomap::OcTreeNode::getMaxChildLogOdds(), and octomap::OcTreeNode::setLogOdds().

std::ostream& octomap::ColorOcTreeNode::writeValue

(

std::ostream &

s

)

const

Member Data Documentation

OcTreeDataNode<float >** octomap::OcTreeDataNode< float >::children

protectedinherited

pointer to array of children, may be NULL

Definition at line 163 of file OcTreeDataNode.h.

Referenced by octomap::OcTreeNodeStamped::createChild(), and createChild().

Color octomap::ColorOcTreeNode::color

protected

Definition at line 125 of file ColorOcTree.h.

Referenced by getColor(), isColorSet(), operator==(), and setColor().

float octomap::OcTreeDataNode< float >::value

protectedinherited

stored data (payload)

Definition at line 165 of file OcTreeDataNode.h.

Referenced by octomap::OcTreeNode::getLogOdds(), octomap::OcTreeNode::getOccupancy(), octomap::OcTreeNodeStamped::operator==(), operator==(), and octomap::OcTreeNode::setLogOdds().