octomap::CountingOcTreeNode Class Reference

Detailed Description

An Octree-node which stores an internal counter per node / volume.

Count is recursive, parent nodes have the summed count of their children.

Note

In our mapping system this data structure is used in CountingOcTree in the sensor model only

Definition at line 68 of file CountingOcTree.h.

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

Inheritance diagram for octomap::CountingOcTreeNode:

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

Public Member Functions
	CountingOcTreeNode ()
	~CountingOcTreeNode ()
bool	createChild (unsigned int i)
CountingOcTreeNode *	getChild (unsigned int i)
const CountingOcTreeNode *	getChild (unsigned int i) const
unsigned int	getCount () const
void	increaseCount ()
void	setCount (unsigned c)
void	expandNode ()
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...
bool	pruneNode ()
	Prunes a node when it is collapsible. More...
unsigned int	getValue () const
void	setValue (unsigned intv)
	sets value to be stored in the node More...
std::istream &	readValue (std::istream &s)
	Read node from binary stream (incl. More...
std::ostream &	writeValue (std::ostream &s) const
	Write node to binary stream (incl float value), recursively continue with all children. More...

Protected Member Functions
void	allocChildren ()

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

Member Typedef Documentation

typedef unsigned int octomap::OcTreeDataNode< unsigned int >::DataType

inherited

Make the templated data type available from the outside.

Definition at line 156 of file OcTreeDataNode.h.

Constructor & Destructor Documentation

octomap::CountingOcTreeNode::CountingOcTreeNode

(

)

octomap::CountingOcTreeNode::~CountingOcTreeNode

(

)

Member Function Documentation

void octomap::OcTreeDataNode< unsigned int >::allocChildren ( )

protectedinherited

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

inherited

Returns

true if the i-th child exists

bool octomap::OcTreeDataNode< unsigned int >::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::CountingOcTreeNode::createChild

(

unsigned int

i

)

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

inherited

Deletes the i-th child of the node.

void octomap::CountingOcTreeNode::expandNode

(

)

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

inline

Definition at line 76 of file CountingOcTree.h.

References octomap::OcTreeDataNode< T >::getChild().

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

inline

Definition at line 80 of file CountingOcTree.h.

References octomap::OcTreeDataNode< T >::getChild().

unsigned int octomap::CountingOcTreeNode::getCount ( ) const

inline

Definition at line 84 of file CountingOcTree.h.

References octomap::OcTreeDataNode< unsigned int >::getValue().

unsigned int octomap::OcTreeDataNode< unsigned int >::getValue ( ) const

inlineinherited

Returns

value stored in the node

Definition at line 129 of file OcTreeDataNode.h.

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

Referenced by getCount().

bool octomap::OcTreeDataNode< unsigned int >::hasChildren ( ) const

inherited

Returns

true if the node has at least one child

void octomap::CountingOcTreeNode::increaseCount ( )

inline

Definition at line 85 of file CountingOcTree.h.

References octomap::OcTreeDataNode< unsigned int >::value.

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

inherited

Equals operator, compares if the stored value is identical.

bool octomap::OcTreeDataNode< unsigned int >::pruneNode ( )

inherited

Prunes a node when it is collapsible.

Returns

true if pruning was successful

std::istream& octomap::OcTreeDataNode< unsigned int >::readValue ( std::istream &  s )

inherited

Read node from binary stream (incl.

float value), recursively continue with all children.

Parameters

s

Returns

void octomap::CountingOcTreeNode::setCount ( unsigned  c )

inline

Definition at line 86 of file CountingOcTree.h.

References octomap::OcTreeDataNode< unsigned int >::setValue().

void octomap::OcTreeDataNode< unsigned int >::setValue ( unsigned int  v )

inlineinherited

sets value to be stored in the node

Definition at line 131 of file OcTreeDataNode.h.

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

Referenced by setCount().

std::ostream& octomap::OcTreeDataNode< unsigned int >::writeValue ( std::ostream &  s ) const

inherited

Write node to binary stream (incl float value), recursively continue with all children.

This preserves the complete state of the node.

Parameters

s

Returns

Member Data Documentation

OcTreeDataNode<unsigned int >** octomap::OcTreeDataNode< unsigned int >::children

protectedinherited

pointer to array of children, may be NULL

Definition at line 163 of file OcTreeDataNode.h.

unsigned int octomap::OcTreeDataNode< unsigned int >::value

protectedinherited

stored data (payload)

Definition at line 165 of file OcTreeDataNode.h.

Referenced by increaseCount().