Detailed Description
template<class NODE, class INTERFACE>
class octomap::OcTreeBaseImpl< NODE, INTERFACE >
OcTree base class, to be used with with any kind of OcTreeDataNode.
This tree implementation currently has a maximum depth of 16 nodes. For this reason, coordinates values have to be, e.g., below +/- 327.68 meters (2^15) at a maximum resolution of 0.01m.
This limitation enables the use of an efficient key generation method which uses the binary representation of the data point coordinates.
- Note
- You should probably not use this class directly, but OcTreeBase or OccupancyOcTreeBase instead
- Template Parameters
-
NODE Node class to be used in tree (usually derived from OcTreeDataNode) INTERFACE Interface to be derived from, should be either AbstractOcTree or AbstractOccupancyOcTree
Definition at line 85 of file OcTreeBaseImpl.h.
#include <mrpt/otherlibs/octomap/OcTreeBaseImpl.h>
Classes | |
| class | iterator_base |
| Base class for OcTree iterators. More... | |
| class | leaf_bbx_iterator |
| Bounding-box leaf iterator. More... | |
| class | leaf_iterator |
| Iterator to iterate over all leafs of the tree. More... | |
| class | tree_iterator |
| Iterator over the complete tree (inner nodes and leafs). More... | |
Public Types | |
| typedef NODE | NodeType |
| Make the templated NODE type available from the outside. More... | |
| typedef leaf_iterator | iterator |
Public Member Functions | |
| OcTreeBaseImpl (double resolution) | |
| virtual | ~OcTreeBaseImpl () |
| OcTreeBaseImpl (const OcTreeBaseImpl< NODE, INTERFACE > &rhs) | |
| bool | operator== (const OcTreeBaseImpl< NODE, INTERFACE > &rhs) const |
| std::string | getTreeType () const |
| void | setResolution (double r) |
| Change the resolution of the octree, scaling all voxels. More... | |
| double | getResolution () const |
| unsigned int | getTreeDepth () const |
| double | getNodeSize (unsigned depth) const |
| NODE * | getRoot () const |
| NODE * | search (double x, double y, double z, unsigned int depth=0) const |
| Search node at specified depth given a 3d point (depth=0: search full tree depth) More... | |
| NODE * | search (const point3d &value, unsigned int depth=0) const |
| Search node at specified depth given a 3d point (depth=0: search full tree depth) More... | |
| NODE * | search (const OcTreeKey &key, unsigned int depth=0) const |
| Search a node at specified depth given an addressing key (depth=0: search full tree depth) More... | |
| bool | deleteNode (double x, double y, double z, unsigned int depth=0) |
| Delete a node (if exists) given a 3d point. More... | |
| bool | deleteNode (const point3d &value, unsigned int depth=0) |
| Delete a node (if exists) given a 3d point. More... | |
| bool | deleteNode (const OcTreeKey &key, unsigned int depth=0) |
| Delete a node (if exists) given an addressing key. More... | |
| void | clear () |
| Deletes the complete tree structure (only the root node will remain) More... | |
| virtual void | prune () |
| Lossless compression of OcTree: merge children to parent when there are eight children with identical values. More... | |
| virtual void | expand () |
| Expands all pruned nodes (reverse of prune()) More... | |
| virtual size_t | size () const |
| virtual size_t | memoryUsage () const |
| virtual size_t | memoryUsageNode () const |
| size_t | memoryFullGrid () const |
| double | volume () const |
| virtual void | getMetricSize (double &x, double &y, double &z) |
| Size of OcTree (all known space) in meters for x, y and z dimension. More... | |
| virtual void | getMetricSize (double &x, double &y, double &z) const |
| Size of OcTree (all known space) in meters for x, y and z dimension. More... | |
| virtual void | getMetricMin (double &x, double &y, double &z) |
| minimum value of the bounding box of all known space in x, y, z More... | |
| void | getMetricMin (double &x, double &y, double &z) const |
| minimum value of the bounding box of all known space in x, y, z More... | |
| virtual void | getMetricMax (double &x, double &y, double &z) |
| maximum value of the bounding box of all known space in x, y, z More... | |
| void | getMetricMax (double &x, double &y, double &z) const |
| maximum value of the bounding box of all known space in x, y, z More... | |
| size_t | calcNumNodes () const |
| Traverses the tree to calculate the total number of nodes. More... | |
| size_t | getNumLeafNodes () const |
| Traverses the tree to calculate the total number of leaf nodes. More... | |
| void | getUnknownLeafCenters (point3d_list &node_centers, point3d pmin, point3d pmax) const |
| return centers of leafs that do NOT exist (but could) in a given bounding box More... | |
| bool | computeRayKeys (const point3d &origin, const point3d &end, KeyRay &ray) const |
| Traces a ray from origin to end (excluding), returning an OcTreeKey of all nodes traversed by the beam. More... | |
| bool | computeRay (const point3d &origin, const point3d &end, std::vector< point3d > &ray) |
| Traces a ray from origin to end (excluding), returning the coordinates of all nodes traversed by the beam. More... | |
| std::istream & | readData (std::istream &s) |
| Read all nodes from the input stream (without file header), for this the tree needs to be already created. More... | |
| std::ostream & | writeData (std::ostream &s) const |
| Write complete state of tree to stream (without file header) unmodified. More... | |
| iterator | begin (unsigned char maxDepth=0) const |
| const iterator | end () const |
| leaf_iterator | begin_leafs (unsigned char maxDepth=0) const |
| const leaf_iterator | end_leafs () const |
| leaf_bbx_iterator | begin_leafs_bbx (const OcTreeKey &min, const OcTreeKey &max, unsigned char maxDepth=0) const |
| leaf_bbx_iterator | begin_leafs_bbx (const point3d &min, const point3d &max, unsigned char maxDepth=0) const |
| const leaf_bbx_iterator | end_leafs_bbx () const |
| tree_iterator | begin_tree (unsigned char maxDepth=0) const |
| const tree_iterator | end_tree () const |
| unsigned short int | coordToKey (double coordinate) const |
| Converts from a single coordinate into a discrete key. More... | |
| unsigned short int | coordToKey (double coordinate, unsigned depth) const |
| Converts from a single coordinate into a discrete key at a given depth. More... | |
| OcTreeKey | coordToKey (const point3d &coord) const |
| Converts from a 3D coordinate into a 3D addressing key. More... | |
| OcTreeKey | coordToKey (double x, double y, double z) const |
| Converts from a 3D coordinate into a 3D addressing key. More... | |
| OcTreeKey | coordToKey (const point3d &coord, unsigned depth) const |
| Converts from a 3D coordinate into a 3D addressing key at a given depth. More... | |
| OcTreeKey | coordToKey (double x, double y, double z, unsigned depth) const |
| Converts from a 3D coordinate into a 3D addressing key at a given depth. More... | |
| OcTreeKey | adjustKeyAtDepth (const OcTreeKey &key, unsigned int depth) const |
| Adjusts a 3D key from the lowest level to correspond to a higher depth (by shifting the key values) More... | |
| unsigned short int | adjustKeyAtDepth (unsigned short int key, unsigned int depth) const |
| Adjusts a single key value from the lowest level to correspond to a higher depth (by shifting the key value) More... | |
| bool | coordToKeyChecked (const point3d &coord, OcTreeKey &key) const |
| Converts a 3D coordinate into a 3D OcTreeKey, with boundary checking. More... | |
| bool | coordToKeyChecked (const point3d &coord, unsigned depth, OcTreeKey &key) const |
| Converts a 3D coordinate into a 3D OcTreeKey at a certain depth, with boundary checking. More... | |
| bool | coordToKeyChecked (double x, double y, double z, OcTreeKey &key) const |
| Converts a 3D coordinate into a 3D OcTreeKey, with boundary checking. More... | |
| bool | coordToKeyChecked (double x, double y, double z, unsigned depth, OcTreeKey &key) const |
| Converts a 3D coordinate into a 3D OcTreeKey at a certain depth, with boundary checking. More... | |
| bool | coordToKeyChecked (double coordinate, unsigned short int &key) const |
| Converts a single coordinate into a discrete addressing key, with boundary checking. More... | |
| bool | coordToKeyChecked (double coordinate, unsigned depth, unsigned short int &key) const |
| Converts a single coordinate into a discrete addressing key, with boundary checking. More... | |
| double | keyToCoord (unsigned short int key, unsigned depth) const |
| converts from a discrete key at a given depth into a coordinate corresponding to the key's center More... | |
| double | keyToCoord (unsigned short int key) const |
| converts from a discrete key at the lowest tree level into a coordinate corresponding to the key's center More... | |
| point3d | keyToCoord (const OcTreeKey &key) const |
| converts from an addressing key at the lowest tree level into a coordinate corresponding to the key's center More... | |
| point3d | keyToCoord (const OcTreeKey &key, unsigned depth) const |
| converts from an addressing key at a given depth into a coordinate corresponding to the key's center More... | |
| DEPRECATED (bool genKeyValue(double coordinate, unsigned short int &keyval) const) | |
| DEPRECATED (bool genKey(const point3d &point, OcTreeKey &key) const ) | |
| DEPRECATED (bool genKeyValueAtDepth(const unsigned short int keyval, unsigned int depth, unsigned short int &out_keyval) const ) | |
| DEPRECATED (bool genKeyAtDepth(const OcTreeKey &key, unsigned int depth, OcTreeKey &out_key) const ) | |
| DEPRECATED (bool genCoordFromKey(const unsigned short int &key, unsigned depth, float &coord) const ) | |
| DEPRECATED (inline bool genCoordFromKey(const unsigned short int &key, float &coord, unsigned depth) const) | |
| DEPRECATED (inline bool genCoordFromKey(const unsigned short int &key, float &coord) const) | |
| DEPRECATED (double genCoordFromKey(const unsigned short int &key, unsigned depth) const) | |
| DEPRECATED (inline double genCoordFromKey(const unsigned short int &key) const) | |
| DEPRECATED (inline bool genCoords(const OcTreeKey &key, unsigned int depth, point3d &point) const) | |
| DEPRECATED (inline void genPos(const OcTreeKey &key, int depth, unsigned int &pos) const) | |
| generate child index (between 0 and 7) from key at given tree depth DEPRECATED More... | |
Protected Member Functions | |
| OcTreeBaseImpl (double resolution, unsigned int tree_depth, unsigned int tree_max_val) | |
| Constructor to enable derived classes to change tree constants. More... | |
| void | calcMinMax () |
| recalculates min and max in x, y, z. Does nothing when tree size didn't change. More... | |
| void | calcNumNodesRecurs (NODE *node, size_t &num_nodes) const |
| bool | deleteNodeRecurs (NODE *node, unsigned int depth, unsigned int max_depth, const OcTreeKey &key) |
| recursive call of deleteNode() More... | |
| void | pruneRecurs (NODE *node, unsigned int depth, unsigned int max_depth, unsigned int &num_pruned) |
| recursive call of prune() More... | |
| void | expandRecurs (NODE *node, unsigned int depth, unsigned int max_depth) |
| recursive call of expand() More... | |
| size_t | getNumLeafNodesRecurs (const NODE *parent) const |
Protected Attributes | |
| NODE * | root |
| const unsigned int | tree_depth |
| Maximum tree depth is fixed to 16 currently. More... | |
| const unsigned int | tree_max_val |
| double | resolution |
| in meters More... | |
| double | resolution_factor |
| = 1. / resolution More... | |
| size_t | tree_size |
| number of nodes in tree More... | |
| bool | size_changed |
| flag to denote whether the octree extent changed (for lazy min/max eval) More... | |
| point3d | tree_center |
| double | max_value [3] |
| max in x, y, z More... | |
| double | min_value [3] |
| min in x, y, z More... | |
| std::vector< double > | sizeLookupTable |
| contains the size of a voxel at level i (0: root node). tree_depth+1 levels (incl. 0) More... | |
| KeyRay | keyray |
| const leaf_iterator | leaf_iterator_end |
| const leaf_bbx_iterator | leaf_iterator_bbx_end |
| const tree_iterator | tree_iterator_end |
Private Member Functions | |
| OcTreeBaseImpl< NODE, INTERFACE > & | operator= (const OcTreeBaseImpl< NODE, INTERFACE > &) |
| Assignment operator is private: don't (re-)assign octrees (const-parameters can't be changed) - use the copy constructor instead. More... | |
Member Typedef Documentation
| typedef leaf_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::iterator |
Definition at line 261 of file OcTreeBaseImpl.h.
| typedef NODE octomap::OcTreeBaseImpl< NODE, INTERFACE >::NodeType |
Make the templated NODE type available from the outside.
Definition at line 89 of file OcTreeBaseImpl.h.
Constructor & Destructor Documentation
| octomap::OcTreeBaseImpl< NODE, INTERFACE >::OcTreeBaseImpl | ( | double | resolution | ) |
|
virtual |
| octomap::OcTreeBaseImpl< NODE, INTERFACE >::OcTreeBaseImpl | ( | const OcTreeBaseImpl< NODE, INTERFACE > & | rhs | ) |
|
protected |
Constructor to enable derived classes to change tree constants.
This usually requires a re-implementation of some core tree-traversal functions as well!
Member Function Documentation
|
inline |
Adjusts a 3D key from the lowest level to correspond to a higher depth (by shifting the key values)
- Parameters
-
key Input key, at the lowest tree level depth Target depth level for the new key
- Returns
- Key for the new depth level
Definition at line 336 of file OcTreeBaseImpl.h.
Referenced by octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >::adjustKeyAtDepth().
| unsigned short int octomap::OcTreeBaseImpl< NODE, INTERFACE >::adjustKeyAtDepth | ( | unsigned short int | key, |
| unsigned int | depth | ||
| ) | const |
Adjusts a single key value from the lowest level to correspond to a higher depth (by shifting the key value)
- Parameters
-
key Input key, at the lowest tree level depth Target depth level for the new key
- Returns
- Key for the new depth level
|
inline |
- Returns
- beginning of the tree as leaf iterator
Definition at line 264 of file OcTreeBaseImpl.h.
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inline |
- Returns
- beginning of the tree as leaf iterator
Definition at line 269 of file OcTreeBaseImpl.h.
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- Returns
- beginning of the tree as leaf iterator in a bounding box
Definition at line 274 of file OcTreeBaseImpl.h.
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- Returns
- beginning of the tree as leaf iterator in a bounding box
Definition at line 278 of file OcTreeBaseImpl.h.
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- Returns
- beginning of the tree as iterator to all nodes (incl. inner)
Definition at line 285 of file OcTreeBaseImpl.h.
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protected |
recalculates min and max in x, y, z. Does nothing when tree size didn't change.
| size_t octomap::OcTreeBaseImpl< NODE, INTERFACE >::calcNumNodes | ( | ) | const |
Traverses the tree to calculate the total number of nodes.
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protected |
| void octomap::OcTreeBaseImpl< NODE, INTERFACE >::clear | ( | ) |
Deletes the complete tree structure (only the root node will remain)
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::computeRay | ( | const point3d & | origin, |
| const point3d & | end, | ||
| std::vector< point3d > & | ray | ||
| ) |
Traces a ray from origin to end (excluding), returning the coordinates of all nodes traversed by the beam.
You still need to check if a node at that coordinate exists (e.g. with search()).
- Note
- : use the faster computeRayKeys method if possible.
- Parameters
-
origin start coordinate of ray end end coordinate of ray ray KeyRay structure that holds the keys of all nodes traversed by the ray, excluding "end"
- Returns
- Success of operation. Returning false usually means that one of the coordinates is out of the OcTree's range
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::computeRayKeys | ( | const point3d & | origin, |
| const point3d & | end, | ||
| KeyRay & | ray | ||
| ) | const |
Traces a ray from origin to end (excluding), returning an OcTreeKey of all nodes traversed by the beam.
You still need to check if a node at that coordinate exists (e.g. with search()).
- Parameters
-
origin start coordinate of ray end end coordinate of ray ray KeyRay structure that holds the keys of all nodes traversed by the ray, excluding "end"
- Returns
- Success of operation. Returning false usually means that one of the coordinates is out of the OcTree's range
|
inline |
Converts from a single coordinate into a discrete key.
Definition at line 294 of file OcTreeBaseImpl.h.
Referenced by octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >::coordToKey().
| unsigned short int octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey | ( | double | coordinate, |
| unsigned | depth | ||
| ) | const |
Converts from a single coordinate into a discrete key at a given depth.
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inline |
Converts from a 3D coordinate into a 3D addressing key.
Definition at line 303 of file OcTreeBaseImpl.h.
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Converts from a 3D coordinate into a 3D addressing key.
Definition at line 308 of file OcTreeBaseImpl.h.
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Converts from a 3D coordinate into a 3D addressing key at a given depth.
Definition at line 313 of file OcTreeBaseImpl.h.
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Converts from a 3D coordinate into a 3D addressing key at a given depth.
Definition at line 321 of file OcTreeBaseImpl.h.
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKeyChecked | ( | const point3d & | coord, |
| OcTreeKey & | key | ||
| ) | const |
Converts a 3D coordinate into a 3D OcTreeKey, with boundary checking.
- Parameters
-
coord 3d coordinate of a point key values that will be computed, an array of fixed size 3.
- Returns
- true if point is within the octree (valid), false otherwise
Referenced by octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >::DEPRECATED().
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKeyChecked | ( | const point3d & | coord, |
| unsigned | depth, | ||
| OcTreeKey & | key | ||
| ) | const |
Converts a 3D coordinate into a 3D OcTreeKey at a certain depth, with boundary checking.
- Parameters
-
coord 3d coordinate of a point depth level of the key from the top key values that will be computed, an array of fixed size 3.
- Returns
- true if point is within the octree (valid), false otherwise
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKeyChecked | ( | double | x, |
| double | y, | ||
| double | z, | ||
| OcTreeKey & | key | ||
| ) | const |
Converts a 3D coordinate into a 3D OcTreeKey, with boundary checking.
- Parameters
-
x y z key values that will be computed, an array of fixed size 3.
- Returns
- true if point is within the octree (valid), false otherwise
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKeyChecked | ( | double | x, |
| double | y, | ||
| double | z, | ||
| unsigned | depth, | ||
| OcTreeKey & | key | ||
| ) | const |
Converts a 3D coordinate into a 3D OcTreeKey at a certain depth, with boundary checking.
- Parameters
-
x y z depth level of the key from the top key values that will be computed, an array of fixed size 3.
- Returns
- true if point is within the octree (valid), false otherwise
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKeyChecked | ( | double | coordinate, |
| unsigned short int & | key | ||
| ) | const |
Converts a single coordinate into a discrete addressing key, with boundary checking.
- Parameters
-
coordinate 3d coordinate of a point key discrete 16 bit adressing key, result
- Returns
- true if coordinate is within the octree bounds (valid), false otherwise
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKeyChecked | ( | double | coordinate, |
| unsigned | depth, | ||
| unsigned short int & | key | ||
| ) | const |
Converts a single coordinate into a discrete addressing key, with boundary checking.
- Parameters
-
coordinate 3d coordinate of a point depth level of the key from the top key discrete 16 bit adressing key, result
- Returns
- true if coordinate is within the octree bounds (valid), false otherwise
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::deleteNode | ( | double | x, |
| double | y, | ||
| double | z, | ||
| unsigned int | depth = 0 |
||
| ) |
Delete a node (if exists) given a 3d point.
Will always delete at the lowest level unless depth !=0, and expand pruned inner nodes as needed. Pruned nodes at level "depth" will directly be deleted as a whole.
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::deleteNode | ( | const point3d & | value, |
| unsigned int | depth = 0 |
||
| ) |
Delete a node (if exists) given a 3d point.
Will always delete at the lowest level unless depth !=0, and expand pruned inner nodes as needed. Pruned nodes at level "depth" will directly be deleted as a whole.
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::deleteNode | ( | const OcTreeKey & | key, |
| unsigned int | depth = 0 |
||
| ) |
Delete a node (if exists) given an addressing key.
Will always delete at the lowest level unless depth !=0, and expand pruned inner nodes as needed. Pruned nodes at level "depth" will directly be deleted as a whole.
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protected |
recursive call of deleteNode()
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inline |
- Deprecated:
- , replaced with coordToKeyChecked()
Definition at line 438 of file OcTreeBaseImpl.h.
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- Deprecated:
- , replaced with coordToKeyChecked()
Definition at line 443 of file OcTreeBaseImpl.h.
| octomap::OcTreeBaseImpl< NODE, INTERFACE >::DEPRECATED | ( | bool genKeyValueAtDepth(const unsigned short int keyval, unsigned int depth, unsigned short int &out_keyval) | const | ) |
- Deprecated:
- , replaced by adjustKeyAtDepth() or coordToKey() with depth parameter
| octomap::OcTreeBaseImpl< NODE, INTERFACE >::DEPRECATED | ( | bool genKeyAtDepth(const OcTreeKey &key, unsigned int depth, OcTreeKey &out_key) | const | ) |
- Deprecated:
- , replaced by adjustKeyAtDepth() or coordToKey() with depth parameter
|
inline |
- Deprecated:
- , replaced by keyToCoord() Will always return true, there is no more boundary check here
Definition at line 455 of file OcTreeBaseImpl.h.
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- Deprecated:
- , replaced by keyToCoord() Will always return true, there is no more boundary check here
Definition at line 462 of file OcTreeBaseImpl.h.
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inline |
- Deprecated:
- , replaced by keyToCoord() Will always return true, there is no more boundary check here
Definition at line 469 of file OcTreeBaseImpl.h.
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- Deprecated:
- , replaced by keyToCoord()
Definition at line 475 of file OcTreeBaseImpl.h.
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- Deprecated:
- , replaced by keyToCoord()
Definition at line 480 of file OcTreeBaseImpl.h.
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- Deprecated:
- , replaced by keyToCoord(). Will always return true, there is no more boundary check here
Definition at line 486 of file OcTreeBaseImpl.h.
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generate child index (between 0 and 7) from key at given tree depth DEPRECATED
Definition at line 493 of file OcTreeBaseImpl.h.
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- Returns
- end of the tree as leaf iterator
Definition at line 266 of file OcTreeBaseImpl.h.
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- Returns
- end of the tree as leaf iterator
Definition at line 271 of file OcTreeBaseImpl.h.
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- Returns
- end of the tree as leaf iterator in a bounding box
Definition at line 282 of file OcTreeBaseImpl.h.
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- Returns
- end of the tree as iterator to all nodes (incl. inner)
Definition at line 287 of file OcTreeBaseImpl.h.
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Expands all pruned nodes (reverse of prune())
- Note
- This is an expensive operation, especially when the tree is nearly empty!
|
protected |
recursive call of expand()
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maximum value of the bounding box of all known space in x, y, z
| void octomap::OcTreeBaseImpl< NODE, INTERFACE >::getMetricMax | ( | double & | x, |
| double & | y, | ||
| double & | z | ||
| ) | const |
maximum value of the bounding box of all known space in x, y, z
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virtual |
minimum value of the bounding box of all known space in x, y, z
| void octomap::OcTreeBaseImpl< NODE, INTERFACE >::getMetricMin | ( | double & | x, |
| double & | y, | ||
| double & | z | ||
| ) | const |
minimum value of the bounding box of all known space in x, y, z
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Size of OcTree (all known space) in meters for x, y and z dimension.
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virtual |
Size of OcTree (all known space) in meters for x, y and z dimension.
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inline |
Definition at line 111 of file OcTreeBaseImpl.h.
| size_t octomap::OcTreeBaseImpl< NODE, INTERFACE >::getNumLeafNodes | ( | ) | const |
Traverses the tree to calculate the total number of leaf nodes.
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protected |
|
inline |
Definition at line 107 of file OcTreeBaseImpl.h.
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inline |
- Returns
- Pointer to the root node of the tree. This pointer should not be modified or deleted externally, the OcTree manages its memory itself.
Definition at line 118 of file OcTreeBaseImpl.h.
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Definition at line 109 of file OcTreeBaseImpl.h.
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Definition at line 102 of file OcTreeBaseImpl.h.
| void octomap::OcTreeBaseImpl< NODE, INTERFACE >::getUnknownLeafCenters | ( | point3d_list & | node_centers, |
| point3d | pmin, | ||
| point3d | pmax | ||
| ) | const |
return centers of leafs that do NOT exist (but could) in a given bounding box
| double octomap::OcTreeBaseImpl< NODE, INTERFACE >::keyToCoord | ( | unsigned short int | key, |
| unsigned | depth | ||
| ) | const |
converts from a discrete key at a given depth into a coordinate corresponding to the key's center
Referenced by octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >::DEPRECATED(), and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >::keyToCoord().
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converts from a discrete key at the lowest tree level into a coordinate corresponding to the key's center
Definition at line 421 of file OcTreeBaseImpl.h.
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converts from an addressing key at the lowest tree level into a coordinate corresponding to the key's center
Definition at line 427 of file OcTreeBaseImpl.h.
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converts from an addressing key at a given depth into a coordinate corresponding to the key's center
Definition at line 433 of file OcTreeBaseImpl.h.
| size_t octomap::OcTreeBaseImpl< NODE, INTERFACE >::memoryFullGrid | ( | ) | const |
- Returns
- Memory usage of a full grid of the same size as the OcTree in bytes (for comparison)
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virtual |
- Returns
- Memory usage of the complete octree in bytes (may vary between architectures)
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- Returns
- Memory usage of the a single octree node
Definition at line 182 of file OcTreeBaseImpl.h.
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Assignment operator is private: don't (re-)assign octrees (const-parameters can't be changed) - use the copy constructor instead.
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::operator== | ( | const OcTreeBaseImpl< NODE, INTERFACE > & | rhs | ) | const |
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Lossless compression of OcTree: merge children to parent when there are eight children with identical values.
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recursive call of prune()
| std::istream& octomap::OcTreeBaseImpl< NODE, INTERFACE >::readData | ( | std::istream & | s | ) |
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.
| NODE* octomap::OcTreeBaseImpl< NODE, INTERFACE >::search | ( | double | x, |
| double | y, | ||
| double | z, | ||
| unsigned int | depth = 0 |
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| ) | const |
Search node at specified depth given a 3d point (depth=0: search full tree depth)
- Returns
- pointer to node if found, NULL otherwise
| NODE* octomap::OcTreeBaseImpl< NODE, INTERFACE >::search | ( | const point3d & | value, |
| unsigned int | depth = 0 |
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| ) | const |
Search node at specified depth given a 3d point (depth=0: search full tree depth)
- Returns
- pointer to node if found, NULL otherwise
| NODE* octomap::OcTreeBaseImpl< NODE, INTERFACE >::search | ( | const OcTreeKey & | key, |
| unsigned int | depth = 0 |
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| ) | const |
Search a node at specified depth given an addressing key (depth=0: search full tree depth)
- Returns
- pointer to node if found, NULL otherwise
| void octomap::OcTreeBaseImpl< NODE, INTERFACE >::setResolution | ( | double | r | ) |
Change the resolution of the octree, scaling all voxels.
This will not preserve the (metric) scale!
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inlinevirtual |
- Returns
- The number of nodes in the tree
Definition at line 176 of file OcTreeBaseImpl.h.
| double octomap::OcTreeBaseImpl< NODE, INTERFACE >::volume | ( | ) | const |
| std::ostream& octomap::OcTreeBaseImpl< NODE, INTERFACE >::writeData | ( | std::ostream & | s | ) | const |
Write complete state of tree to stream (without file header) unmodified.
Pruning the tree first produces smaller files (lossless compression)
Member Data Documentation
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Definition at line 544 of file OcTreeBaseImpl.h.
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Definition at line 547 of file OcTreeBaseImpl.h.
Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::leaf_iterator::operator++().
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Definition at line 546 of file OcTreeBaseImpl.h.
Referenced by octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >::end(), and octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >::end_leafs().
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max in x, y, z
Definition at line 539 of file OcTreeBaseImpl.h.
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min in x, y, z
Definition at line 540 of file OcTreeBaseImpl.h.
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in meters
Definition at line 530 of file OcTreeBaseImpl.h.
Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::iterator_base::operator->(), and octomap::OcTreeBaseImpl< NODE, INTERFACE >::leaf_bbx_iterator::singleIncrement().
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= 1. / resolution
Definition at line 531 of file OcTreeBaseImpl.h.
Referenced by octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >::coordToKey().
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Definition at line 525 of file OcTreeBaseImpl.h.
Referenced by octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >::getRoot().
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flag to denote whether the octree extent changed (for lazy min/max eval)
Definition at line 535 of file OcTreeBaseImpl.h.
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contains the size of a voxel at level i (0: root node). tree_depth+1 levels (incl. 0)
Definition at line 542 of file OcTreeBaseImpl.h.
Referenced by octomap::OcTreeBaseImpl< NODE, INTERFACE >::iterator_base::operator*().
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Definition at line 537 of file OcTreeBaseImpl.h.
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Maximum tree depth is fixed to 16 currently.
Definition at line 528 of file OcTreeBaseImpl.h.
Referenced by octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >::adjustKeyAtDepth(), octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >::coordToKey(), octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >::getTreeDepth(), and octomap::OcTreeBaseImpl< NODE, INTERFACE >::iterator_base::operator*().
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Definition at line 548 of file OcTreeBaseImpl.h.
Referenced by octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >::end_tree().
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Definition at line 529 of file OcTreeBaseImpl.h.
Referenced by octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >::coordToKey(), and octomap::OcTreeBaseImpl< NODE, INTERFACE >::leaf_bbx_iterator::singleIncrement().
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number of nodes in tree
Definition at line 533 of file OcTreeBaseImpl.h.
Referenced by octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >::size().