#include <occupancy_map.h>

Inheritance diagram for collision_detection::OccMapTree:

[legend]

Public Types
using	ReadLock = boost::shared_lock< boost::shared_mutex >

using	WriteLock = boost::unique_lock< boost::shared_mutex >

Public Types inherited from OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >
typedef leaf_iterator	iterator

typedef OcTreeNode	NodeType

Public Member Functions
void	lockRead ()
	lock the underlying octree. it will not be read or written by the monitor until unlockTree() is called More...

void	lockWrite ()
	lock the underlying octree. it will not be read or written by the monitor until unlockTree() is called More...

	OccMapTree (const std::string &filename)

	OccMapTree (double resolution)

ReadLock	reading ()

void	setUpdateCallback (const boost::function< void()> &update_callback)
	Set the callback to trigger when updates are received. More...

void	triggerUpdateCallback ()

void	unlockRead ()
	unlock the underlying octree. More...

void	unlockWrite ()
	unlock the underlying octree. More...

WriteLock	writing ()

Public Member Functions inherited from octomap::OcTree
OcTree *	create () const

std::string	getTreeType () const

	OcTree (double resolution)

	OcTree (std::string _filename)

virtual	~OcTree ()

Public Member Functions inherited from OccupancyOcTreeBase< OcTreeNode >
bool	bbxSet () const

virtual bool	castRay (const point3d &origin, const point3d &direction, point3d &end, bool ignoreUnknownCells=false, double maxRange=-1.0) const

KeyBoolMap::const_iterator	changedKeysBegin () const

KeyBoolMap::const_iterator	changedKeysEnd () const

void	computeDiscreteUpdate (const Pointcloud &scan, const octomap::point3d &origin, KeySet &free_cells, KeySet &occupied_cells, double maxrange)

void	computeUpdate (const Pointcloud &scan, const octomap::point3d &origin, KeySet &free_cells, KeySet &occupied_cells, double maxrange)

void	enableChangeDetection (bool enable)

point3d	getBBXBounds () const

point3d	getBBXCenter () const

point3d	getBBXMax () const

point3d	getBBXMin () const

bool	getNormals (const point3d &point, std::vector< point3d > &normals, bool unknownStatus=true) const

virtual bool	getRayIntersection (const point3d &origin, const point3d &direction, const point3d &center, point3d &intersection, double delta=0.0) const

bool	inBBX (const OcTreeKey &key) const

bool	inBBX (const point3d &p) const

virtual void	insertPointCloud (const Pointcloud &scan, const octomap::point3d &sensor_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false)

virtual void	insertPointCloud (const Pointcloud &scan, const point3d &sensor_origin, const pose6d &frame_origin, double maxrange=-1., bool lazy_eval=false, bool discretize=false)

virtual void	insertPointCloud (const ScanNode &scan, double maxrange=-1., bool lazy_eval=false, bool discretize=false)

virtual void	insertPointCloudRays (const Pointcloud &scan, const point3d &sensor_origin, double maxrange=-1., bool lazy_eval=false)

virtual bool	insertRay (const point3d &origin, const point3d &end, double maxrange=-1.0, bool lazy_eval=false)

virtual void	integrateHit (OcTreeNode *occupancyNode) const

virtual void	integrateMiss (OcTreeNode *occupancyNode) const

bool	isChangeDetectionEnabled () const

virtual void	nodeToMaxLikelihood (OcTreeNode &occupancyNode) const

virtual void	nodeToMaxLikelihood (OcTreeNode *occupancyNode) const

size_t	numChangesDetected () const

	OccupancyOcTreeBase (const OccupancyOcTreeBase< OcTreeNode > &rhs)

	OccupancyOcTreeBase (double resolution)

std::istream &	readBinaryData (std::istream &s)

std::istream &	readBinaryNode (std::istream &s, OcTreeNode *node)

void	resetChangeDetection ()

void	setBBXMax (const point3d &max)

void	setBBXMin (const point3d &min)

virtual OcTreeNode *	setNodeValue (const OcTreeKey &key, float log_odds_value, bool lazy_eval=false)

virtual OcTreeNode *	setNodeValue (const point3d &value, float log_odds_value, bool lazy_eval=false)

virtual OcTreeNode *	setNodeValue (double x, double y, double z, float log_odds_value, bool lazy_eval=false)

virtual void	toMaxLikelihood ()

void	updateInnerOccupancy ()

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

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

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

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

virtual OcTreeNode *	updateNode (double x, double y, double z, bool occupied, bool lazy_eval=false)

virtual OcTreeNode *	updateNode (double x, double y, double z, float log_odds_update, bool lazy_eval=false)

virtual void	updateNodeLogOdds (OcTreeNode *occupancyNode, const float &update) const

void	useBBXLimit (bool enable)

std::ostream &	writeBinaryData (std::ostream &s) const

std::ostream &	writeBinaryNode (std::ostream &s, const OcTreeNode *node) const

virtual	~OccupancyOcTreeBase ()

Public Member Functions inherited from OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >
OcTreeKey	adjustKeyAtDepth (const OcTreeKey &key, unsigned int depth) const

key_type	adjustKeyAtDepth (key_type key, unsigned int depth) const

iterator	begin (unsigned char maxDepth=0) const

leaf_iterator	begin_leafs (unsigned char maxDepth=0) 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

tree_iterator	begin_tree (unsigned char maxDepth=0) const

size_t	calcNumNodes () const

void	clear ()

void	clearKeyRays ()

bool	computeRay (const point3d &origin, const point3d &end, std::vector< point3d > &ray)

bool	computeRayKeys (const point3d &origin, const point3d &end, KeyRay &ray) const

OcTreeKey	coordToKey (const point3d &coord) const

OcTreeKey	coordToKey (const point3d &coord, unsigned depth) const

key_type	coordToKey (double coordinate) const

key_type	coordToKey (double coordinate, unsigned depth) const

OcTreeKey	coordToKey (double x, double y, double z) const

OcTreeKey	coordToKey (double x, double y, double z, unsigned depth) const

bool	coordToKeyChecked (const point3d &coord, OcTreeKey &key) const

bool	coordToKeyChecked (const point3d &coord, unsigned depth, OcTreeKey &key) const

bool	coordToKeyChecked (double coordinate, key_type &key) const

bool	coordToKeyChecked (double coordinate, unsigned depth, key_type &key) const

bool	coordToKeyChecked (double x, double y, double z, OcTreeKey &key) const

bool	coordToKeyChecked (double x, double y, double z, unsigned depth, OcTreeKey &key) const

OcTreeNode *	createNodeChild (OcTreeNode *node, unsigned int childIdx)

bool	deleteNode (const OcTreeKey &key, unsigned int depth=0)

bool	deleteNode (const point3d &value, unsigned int depth=0)

bool	deleteNode (double x, double y, double z, unsigned int depth=0)

void	deleteNodeChild (OcTreeNode *node, unsigned int childIdx)

const iterator	end () const

const leaf_iterator	end_leafs () const

const leaf_bbx_iterator	end_leafs_bbx () const

const tree_iterator	end_tree () const

virtual void	expand ()

virtual void	expandNode (OcTreeNode *node)

virtual void	getMetricMax (double &x, double &y, double &z)

void	getMetricMax (double &x, double &y, double &z) const

virtual void	getMetricMin (double &x, double &y, double &z)

void	getMetricMin (double &x, double &y, double &z) const

virtual void	getMetricSize (double &x, double &y, double &z)

virtual void	getMetricSize (double &x, double &y, double &z) const

const OcTreeNode *	getNodeChild (const OcTreeNode *node, unsigned int childIdx) const

OcTreeNode *	getNodeChild (OcTreeNode *node, unsigned int childIdx) const

double	getNodeSize (unsigned depth) const

size_t	getNumLeafNodes () const

double	getResolution () const

OcTreeNode *	getRoot () const

unsigned int	getTreeDepth () const

std::string	getTreeType () const

void	getUnknownLeafCenters (point3d_list &node_centers, point3d pmin, point3d pmax, unsigned int depth=0) const

virtual bool	isNodeCollapsible (const OcTreeNode *node) const

point3d	keyToCoord (const OcTreeKey &key) const

point3d	keyToCoord (const OcTreeKey &key, unsigned depth) const

double	keyToCoord (key_type key) const

double	keyToCoord (key_type key, unsigned depth) const

unsigned long long	memoryFullGrid () const

virtual size_t	memoryUsage () const

virtual size_t	memoryUsageNode () const

bool	nodeChildExists (const OcTreeNode *node, unsigned int childIdx) const

bool	nodeHasChildren (const OcTreeNode *node) const

	OcTreeBaseImpl (const OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree > &rhs)

	OcTreeBaseImpl (double resolution)

bool	operator== (const OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree > &rhs) const

virtual void	prune ()

virtual bool	pruneNode (OcTreeNode *node)

std::istream &	readData (std::istream &s)

OcTreeNode *	search (const OcTreeKey &key, unsigned int depth=0) const

OcTreeNode *	search (const point3d &value, unsigned int depth=0) const

OcTreeNode *	search (double x, double y, double z, unsigned int depth=0) const

void	setResolution (double r)

virtual size_t	size () const

void	swapContent (OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree > &rhs)

double	volume ()

std::ostream &	writeData (std::ostream &s) const

virtual	~OcTreeBaseImpl ()

Public Member Functions inherited from octomap::AbstractOccupancyOcTree
	AbstractOccupancyOcTree ()

double	getClampingThresMax () const

float	getClampingThresMaxLog () const

double	getClampingThresMin () const

float	getClampingThresMinLog () const

double	getOccupancyThres () const

float	getOccupancyThresLog () const

double	getProbHit () const

float	getProbHitLog () const

double	getProbMiss () const

float	getProbMissLog () const

bool	isNodeAtThreshold (const OcTreeNode &occupancyNode) const

bool	isNodeAtThreshold (const OcTreeNode *occupancyNode) const

bool	isNodeOccupied (const OcTreeNode &occupancyNode) const

bool	isNodeOccupied (const OcTreeNode *occupancyNode) const

bool	readBinary (const std::string &filename)

bool	readBinary (std::istream &s)

void	setClampingThresMax (double thresProb)

void	setClampingThresMin (double thresProb)

void	setOccupancyThres (double prob)

void	setProbHit (double prob)

void	setProbMiss (double prob)

virtual OcTreeNode *	updateNode (const OcTreeKey &key, bool occupied, bool lazy_eval=false)=0

virtual OcTreeNode *	updateNode (const OcTreeKey &key, float log_odds_update, bool lazy_eval=false)=0

bool	writeBinary (const std::string &filename)

bool	writeBinary (std::ostream &s)

bool	writeBinaryConst (const std::string &filename) const

bool	writeBinaryConst (std::ostream &s) const

virtual	~AbstractOccupancyOcTree ()

Public Member Functions inherited from octomap::AbstractOcTree
	AbstractOcTree ()

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

bool	write (std::ostream &s) const

virtual	~AbstractOcTree ()

Private Attributes
boost::shared_mutex	tree_mutex_

boost::function< void()>	update_callback_

Additional Inherited Members
Static Public Member Functions inherited from octomap::AbstractOcTree
static AbstractOcTree *	createTree (const std::string id, double res)

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

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

Protected Member Functions inherited from OccupancyOcTreeBase< OcTreeNode >
bool	integrateMissOnRay (const point3d &origin, const point3d &end, bool lazy_eval=false)

	OccupancyOcTreeBase (double resolution, unsigned int tree_depth, unsigned int tree_max_val)

OcTreeNode *	setNodeValueRecurs (OcTreeNode *node, bool node_just_created, const OcTreeKey &key, unsigned int depth, const float &log_odds_value, bool lazy_eval=false)

void	toMaxLikelihoodRecurs (OcTreeNode *node, unsigned int depth, unsigned int max_depth)

void	updateInnerOccupancyRecurs (OcTreeNode *node, unsigned int depth)

OcTreeNode *	updateNodeRecurs (OcTreeNode *node, bool node_just_created, const OcTreeKey &key, unsigned int depth, const float &log_odds_update, bool lazy_eval=false)

Protected Member Functions inherited from OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >
void	allocNodeChildren (OcTreeNode *node)

void	calcMinMax ()

void	calcNumNodesRecurs (OcTreeNode *node, size_t &num_nodes) const

void	deleteNodeRecurs (OcTreeNode *node)

bool	deleteNodeRecurs (OcTreeNode *node, unsigned int depth, unsigned int max_depth, const OcTreeKey &key)

void	expandRecurs (OcTreeNode *node, unsigned int depth, unsigned int max_depth)

size_t	getNumLeafNodesRecurs (const OcTreeNode *parent) const

void	init ()

	OcTreeBaseImpl (double resolution, unsigned int tree_depth, unsigned int tree_max_val)

void	pruneRecurs (OcTreeNode *node, unsigned int depth, unsigned int max_depth, unsigned int &num_pruned)

std::istream &	readNodesRecurs (OcTreeNode *, std::istream &s)

std::ostream &	writeNodesRecurs (const OcTreeNode *, std::ostream &s) const

Protected Member Functions inherited from octomap::AbstractOccupancyOcTree
bool	readBinaryLegacyHeader (std::istream &s, unsigned int &size, double &res)

Static Protected Member Functions inherited from octomap::AbstractOcTree
static bool	readHeader (std::istream &s, std::string &id, unsigned &size, double &res)

static void	registerTreeType (AbstractOcTree *tree)

Protected Attributes inherited from OccupancyOcTreeBase< OcTreeNode >
point3d	bbx_max

OcTreeKey	bbx_max_key

point3d	bbx_min

OcTreeKey	bbx_min_key

KeyBoolMap	changed_keys

bool	use_bbx_limit

bool	use_change_detection

Protected Attributes inherited from OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >
std::vector< KeyRay >	keyrays

const leaf_bbx_iterator	leaf_iterator_bbx_end

const leaf_iterator	leaf_iterator_end

double	max_value [3]

double	min_value [3]

double	resolution

double	resolution_factor

OcTreeNode *	root

bool	size_changed

std::vector< double >	sizeLookupTable

point3d	tree_center

const unsigned int	tree_depth

const tree_iterator	tree_iterator_end

const unsigned int	tree_max_val

size_t	tree_size

Protected Attributes inherited from octomap::AbstractOccupancyOcTree
float	clamping_thres_max

float	clamping_thres_min

float	occ_prob_thres_log

float	prob_hit_log

float	prob_miss_log

Static Protected Attributes inherited from octomap::OcTree
static StaticMemberInitializer	ocTreeMemberInit

Static Protected Attributes inherited from octomap::AbstractOccupancyOcTree
static const std::string	binaryFileHeader

Static Protected Attributes inherited from octomap::AbstractOcTree
static const std::string	fileHeader

Detailed Description

Definition at line 81 of file occupancy_map.h.

Member Typedef Documentation

◆ ReadLock

using collision_detection::OccMapTree::ReadLock = boost::shared_lock<boost::shared_mutex>

Definition at line 118 of file occupancy_map.h.

◆ WriteLock

using collision_detection::OccMapTree::WriteLock = boost::unique_lock<boost::shared_mutex>

Definition at line 119 of file occupancy_map.h.

Constructor & Destructor Documentation

◆ OccMapTree() [1/2]

collision_detection::OccMapTree::OccMapTree ( double resolution )

inline

Definition at line 84 of file occupancy_map.h.

◆ OccMapTree() [2/2]

collision_detection::OccMapTree::OccMapTree ( const std::string & filename )

inline

Definition at line 88 of file occupancy_map.h.

Member Function Documentation

◆ lockRead()

void collision_detection::OccMapTree::lockRead ( )

inline

lock the underlying octree. it will not be read or written by the monitor until unlockTree() is called

Definition at line 94 of file occupancy_map.h.

◆ lockWrite()

void collision_detection::OccMapTree::lockWrite ( )

inline

lock the underlying octree. it will not be read or written by the monitor until unlockTree() is called

Definition at line 107 of file occupancy_map.h.

◆ reading()

ReadLock collision_detection::OccMapTree::reading ( )

inline

Definition at line 121 of file occupancy_map.h.

◆ setUpdateCallback()

void collision_detection::OccMapTree::setUpdateCallback ( const boost::function< void()> & update_callback )

inline

Set the callback to trigger when updates are received.

Definition at line 138 of file occupancy_map.h.

◆ triggerUpdateCallback()

void collision_detection::OccMapTree::triggerUpdateCallback ( )

inline

Definition at line 131 of file occupancy_map.h.

◆ unlockRead()

void collision_detection::OccMapTree::unlockRead ( )

inline

unlock the underlying octree.

Definition at line 100 of file occupancy_map.h.

◆ unlockWrite()

void collision_detection::OccMapTree::unlockWrite ( )

inline

unlock the underlying octree.

Definition at line 113 of file occupancy_map.h.

◆ writing()

WriteLock collision_detection::OccMapTree::writing ( )

inline

Definition at line 126 of file occupancy_map.h.

Member Data Documentation

◆ tree_mutex_

boost::shared_mutex collision_detection::OccMapTree::tree_mutex_

private

Definition at line 144 of file occupancy_map.h.

◆ update_callback_

boost::function<void()> collision_detection::OccMapTree::update_callback_

private

Definition at line 145 of file occupancy_map.h.

The documentation for this class was generated from the following file:

occupancy_map.h

Public Types

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ReadLock

◆ WriteLock

Constructor & Destructor Documentation

◆ OccMapTree() [1/2]

◆ OccMapTree() [2/2]

Member Function Documentation

◆ lockRead()

◆ lockWrite()

◆ reading()

◆ setUpdateCallback()

◆ triggerUpdateCallback()

◆ unlockRead()

◆ unlockWrite()

◆ writing()

Member Data Documentation

◆ tree_mutex_

◆ update_callback_