octomap::OcTreeNodeStamped Class Reference

Detailed Description

Definition at line 58 of file OcTreeStamped.h.

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

Inheritance diagram for octomap::OcTreeNodeStamped:

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

Public Member Functions
	OcTreeNodeStamped ()
	OcTreeNodeStamped (const OcTreeNodeStamped &rhs)
bool	operator== (const OcTreeNodeStamped &rhs) const
OcTreeNodeStamped *	getChild (unsigned int i)
const OcTreeNodeStamped *	getChild (unsigned int i) const
bool	createChild (unsigned int i)
unsigned int	getTimestamp () const
void	updateTimestamp ()
void	setTimestamp (unsigned int timestamp)
void	updateOccupancyChildren ()
double	getOccupancy () const
float	getLogOdds () const
void	setLogOdds (float l)
	sets log odds occupancy of node More...
double	getMeanChildLogOdds () const
float	getMaxChildLogOdds () const
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...
bool	pruneNode ()
	Prunes a node when it is collapsible. More...
void	expandNode ()
	Expands a node (reverse of pruning): All children are created and their occupancy probability is set to the node's value. More...
float	getValue () const
void	setValue (floatv)
	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
unsigned int	timestamp
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::OcTreeNodeStamped::OcTreeNodeStamped ( )

inline

Definition at line 61 of file OcTreeStamped.h.

Referenced by createChild().

octomap::OcTreeNodeStamped::OcTreeNodeStamped ( const OcTreeNodeStamped &  rhs )

inline

Definition at line 63 of file OcTreeStamped.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 createChild(), and octomap::ColorOcTreeNode::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::OcTreeNodeStamped::createChild ( unsigned int  i )

inline

Definition at line 77 of file OcTreeStamped.h.

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

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

inherited

Deletes the i-th child of the node.

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

inherited

Expands a node (reverse of pruning): All children are created and their occupancy probability is set to the node's value.

You need to verify that this is indeed a pruned node (i.e. not a leaf at the lowest level)

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

inline

Definition at line 70 of file OcTreeStamped.h.

References octomap::OcTreeNode::getChild().

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

inline

Definition at line 73 of file OcTreeStamped.h.

References octomap::OcTreeNode::getChild().

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 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.

unsigned int octomap::OcTreeNodeStamped::getTimestamp ( ) const

inline

Definition at line 84 of file OcTreeStamped.h.

References timestamp.

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::OcTreeNodeStamped::operator== ( const OcTreeNodeStamped &  rhs ) const

inline

Definition at line 65 of file OcTreeStamped.h.

References timestamp, 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::OcTreeDataNode< float >::pruneNode ( )

inherited

Prunes a node when it is collapsible.

Returns

true if pruning was successful

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

inherited

Read node from binary stream (incl.

float value), recursively continue with all children.

Parameters

s

Returns

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 updateOccupancyChildren(), and octomap::OcTreeNode::updateOccupancyChildren().

void octomap::OcTreeNodeStamped::setTimestamp ( unsigned int  timestamp )

inline

Definition at line 86 of file OcTreeStamped.h.

References timestamp.

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::OcTreeNodeStamped::updateOccupancyChildren ( )

inline

Definition at line 89 of file OcTreeStamped.h.

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

void octomap::OcTreeNodeStamped::updateTimestamp ( )

inline

Definition at line 85 of file OcTreeStamped.h.

References timestamp.

Referenced by updateOccupancyChildren().

std::ostream& octomap::OcTreeDataNode< float >::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<float >** octomap::OcTreeDataNode< float >::children

protectedinherited

pointer to array of children, may be NULL

Definition at line 163 of file OcTreeDataNode.h.

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

unsigned int octomap::OcTreeNodeStamped::timestamp

protected

Definition at line 95 of file OcTreeStamped.h.

Referenced by getTimestamp(), operator==(), setTimestamp(), and updateTimestamp().

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(), operator==(), octomap::ColorOcTreeNode::operator==(), and octomap::OcTreeNode::setLogOdds().