#include <OcTreeBaseImpl.h>
Public Types | |
| typedef leaf_iterator | iterator |
| typedef NODE | NodeType |
| Make the templated NODE type available from the outside. More... | |
Public Member Functions | |
| 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 |
| Traverses the tree to calculate the total number of nodes. More... | |
| void | clear () |
| Deletes the complete tree structure. More... | |
| 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 |
| 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... | |
| key_type | coordToKey (double coordinate) const |
| Converts from a single coordinate into a discrete key. More... | |
| key_type | coordToKey (double coordinate, unsigned depth) const |
| Converts from a single coordinate into a discrete key at a given depth. More... | |
| OcTreeKey | coordToKey (double x, double y, double z) const |
| Converts from a 3D coordinate into a 3D addressing key. 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... | |
| 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 |
| NODE * | createNodeChild (NODE *node, unsigned int childIdx) |
| Creates (allocates) the i-th child of the node. More... | |
| 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 (NODE *node, unsigned int childIdx) |
| Deletes the i-th child of the node. More... | |
| 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 (NODE *node) |
| 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... | |
| 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 | 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... | |
| const NODE * | getNodeChild (const NODE *node, unsigned int childIdx) const |
| NODE * | getNodeChild (NODE *node, unsigned int childIdx) const |
| double | getNodeSize (unsigned depth) const |
| size_t | getNumLeafNodes () const |
| Traverses the tree to calculate the total number of leaf nodes. More... | |
| double | getResolution () const |
| NODE * | 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 |
| return centers of leafs that do NOT exist (but could) in a given bounding box More... | |
| virtual bool | isNodeCollapsible (const NODE *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 NODE *node, unsigned int childIdx) const |
| bool | nodeHasChildren (const NODE *node) const |
| OcTreeBaseImpl (const OcTreeBaseImpl< NODE, INTERFACE > &rhs) | |
| Deep copy constructor. More... | |
| OcTreeBaseImpl (double resolution) | |
| bool | operator== (const OcTreeBaseImpl< NODE, INTERFACE > &rhs) const |
| virtual void | prune () |
| virtual bool | pruneNode (NODE *node) |
| std::istream & | readData (std::istream &s) |
| NODE * | search (const OcTreeKey &key, unsigned int depth=0) const |
| NODE * | search (const point3d &value, unsigned int depth=0) const |
| NODE * | search (double x, double y, double z, unsigned int depth=0) const |
| void | setResolution (double r) |
| virtual size_t | size () const |
| void | swapContent (OcTreeBaseImpl< NODE, INTERFACE > &rhs) |
| double | volume () |
| std::ostream & | writeData (std::ostream &s) const |
| virtual | ~OcTreeBaseImpl () |
Protected Member Functions | |
| void | allocNodeChildren (NODE *node) |
| 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 |
| void | deleteNodeRecurs (NODE *node) |
| bool | deleteNodeRecurs (NODE *node, unsigned int depth, unsigned int max_depth, const OcTreeKey &key) |
| recursive call of deleteNode() More... | |
| void | expandRecurs (NODE *node, unsigned int depth, unsigned int max_depth) |
| recursive call of expand() More... | |
| size_t | getNumLeafNodesRecurs (const NODE *parent) const |
| void | init () |
| initialize non-trivial members, helper for constructors More... | |
| OcTreeBaseImpl (double resolution, unsigned int tree_depth, unsigned int tree_max_val) | |
| void | pruneRecurs (NODE *node, unsigned int depth, unsigned int max_depth, unsigned int &num_pruned) |
| recursive call of prune() More... | |
| std::istream & | readNodesRecurs (NODE *, std::istream &s) |
| recursive call of readData() More... | |
| std::ostream & | writeNodesRecurs (const NODE *, std::ostream &s) const |
| recursive call of writeData() More... | |
Protected Attributes | |
| std::vector< KeyRay > | keyrays |
| data structure for ray casting, array for multithreading More... | |
| const leaf_bbx_iterator | leaf_iterator_bbx_end |
| const leaf_iterator | leaf_iterator_end |
| double | max_value [3] |
| max in x, y, z More... | |
| double | min_value [3] |
| double | resolution |
| in meters More... | |
| double | resolution_factor |
| = 1. / resolution More... | |
| NODE * | root |
| Pointer to the root NODE, NULL for empty tree. More... | |
| bool | size_changed |
| flag to denote whether the octree extent changed (for lazy min/max eval) More... | |
| std::vector< double > | sizeLookupTable |
| contains the size of a voxel at level i (0: root node). tree_depth+1 levels (incl. 0) More... | |
| point3d | tree_center |
| const unsigned int | tree_depth |
| Maximum tree depth is fixed to 16 currently. More... | |
| const tree_iterator | tree_iterator_end |
| const unsigned int | tree_max_val |
| size_t | tree_size |
Private Member Functions | |
| OcTreeBaseImpl< NODE, INTERFACE > & | operator= (const OcTreeBaseImpl< NODE, INTERFACE > &) |
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 75 of file OcTreeBaseImpl.h.
Member Typedef Documentation
◆ iterator
| typedef leaf_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::iterator |
Definition at line 324 of file OcTreeBaseImpl.h.
◆ NodeType
| typedef NODE octomap::OcTreeBaseImpl< NODE, INTERFACE >::NodeType |
Make the templated NODE type available from the outside.
Definition at line 79 of file OcTreeBaseImpl.h.
Constructor & Destructor Documentation
◆ OcTreeBaseImpl() [1/3]
| octomap::OcTreeBaseImpl< NODE, INTERFACE >::OcTreeBaseImpl | ( | double | resolution | ) |
◆ ~OcTreeBaseImpl()
|
virtual |
◆ OcTreeBaseImpl() [2/3]
| octomap::OcTreeBaseImpl< NODE, INTERFACE >::OcTreeBaseImpl | ( | const OcTreeBaseImpl< NODE, INTERFACE > & | rhs | ) |
Deep copy constructor.
◆ OcTreeBaseImpl() [3/3]
|
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
◆ adjustKeyAtDepth() [1/2]
|
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 399 of file OcTreeBaseImpl.h.
◆ adjustKeyAtDepth() [2/2]
| key_type octomap::OcTreeBaseImpl< NODE, INTERFACE >::adjustKeyAtDepth | ( | key_type | 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
◆ allocNodeChildren()
|
protected |
◆ begin()
|
inline |
- Returns
- beginning of the tree as leaf iterator
Definition at line 327 of file OcTreeBaseImpl.h.
◆ begin_leafs()
|
inline |
- Returns
- beginning of the tree as leaf iterator
Definition at line 332 of file OcTreeBaseImpl.h.
◆ begin_leafs_bbx() [1/2]
|
inline |
- Returns
- beginning of the tree as leaf iterator in a bounding box
Definition at line 337 of file OcTreeBaseImpl.h.
◆ begin_leafs_bbx() [2/2]
|
inline |
- Returns
- beginning of the tree as leaf iterator in a bounding box
Definition at line 341 of file OcTreeBaseImpl.h.
◆ begin_tree()
|
inline |
- Returns
- beginning of the tree as iterator to all nodes (incl. inner)
Definition at line 348 of file OcTreeBaseImpl.h.
◆ calcMinMax()
|
protected |
recalculates min and max in x, y, z. Does nothing when tree size didn't change.
◆ calcNumNodes()
| size_t octomap::OcTreeBaseImpl< NODE, INTERFACE >::calcNumNodes | ( | ) | const |
Traverses the tree to calculate the total number of nodes.
◆ calcNumNodesRecurs()
|
protected |
◆ clear()
| void octomap::OcTreeBaseImpl< NODE, INTERFACE >::clear | ( | ) |
Deletes the complete tree structure.
◆ clearKeyRays()
|
inline |
Clear KeyRay vector to minimize unneeded memory. This is only useful for the StaticMemberInitializer classes, don't call it for an octree that is actually used.
Definition at line 120 of file OcTreeBaseImpl.h.
◆ computeRay()
| 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
◆ computeRayKeys()
| 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
◆ coordToKey() [1/6]
|
inline |
Converts from a 3D coordinate into a 3D addressing key.
Definition at line 366 of file OcTreeBaseImpl.h.
◆ coordToKey() [2/6]
|
inline |
Converts from a 3D coordinate into a 3D addressing key at a given depth.
Definition at line 376 of file OcTreeBaseImpl.h.
◆ coordToKey() [3/6]
|
inline |
Converts from a single coordinate into a discrete key.
Definition at line 357 of file OcTreeBaseImpl.h.
◆ coordToKey() [4/6]
| key_type octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey | ( | double | coordinate, |
| unsigned | depth | ||
| ) | const |
Converts from a single coordinate into a discrete key at a given depth.
◆ coordToKey() [5/6]
|
inline |
Converts from a 3D coordinate into a 3D addressing key.
Definition at line 371 of file OcTreeBaseImpl.h.
◆ coordToKey() [6/6]
|
inline |
Converts from a 3D coordinate into a 3D addressing key at a given depth.
Definition at line 384 of file OcTreeBaseImpl.h.
◆ coordToKeyChecked() [1/6]
| 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
◆ coordToKeyChecked() [2/6]
| 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
◆ coordToKeyChecked() [3/6]
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKeyChecked | ( | double | coordinate, |
| key_type & | 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
◆ coordToKeyChecked() [4/6]
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKeyChecked | ( | double | coordinate, |
| unsigned | depth, | ||
| key_type & | 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
◆ coordToKeyChecked() [5/6]
| 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
◆ coordToKeyChecked() [6/6]
| 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
◆ createNodeChild()
| NODE* octomap::OcTreeBaseImpl< NODE, INTERFACE >::createNodeChild | ( | NODE * | node, |
| unsigned int | childIdx | ||
| ) |
Creates (allocates) the i-th child of the node.
- Returns
- ptr to newly create NODE
◆ deleteNode() [1/3]
| 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.
◆ deleteNode() [2/3]
| 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.
◆ deleteNode() [3/3]
| 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.
◆ deleteNodeChild()
| void octomap::OcTreeBaseImpl< NODE, INTERFACE >::deleteNodeChild | ( | NODE * | node, |
| unsigned int | childIdx | ||
| ) |
Deletes the i-th child of the node.
◆ deleteNodeRecurs() [1/2]
|
protected |
Recursively delete a node and all children. Deallocates memory but does NOT set the node ptr to NULL nor updates tree size.
◆ deleteNodeRecurs() [2/2]
|
protected |
recursive call of deleteNode()
◆ end()
|
inline |
- Returns
- end of the tree as leaf iterator
Definition at line 329 of file OcTreeBaseImpl.h.
◆ end_leafs()
|
inline |
- Returns
- end of the tree as leaf iterator
Definition at line 334 of file OcTreeBaseImpl.h.
◆ end_leafs_bbx()
|
inline |
- Returns
- end of the tree as leaf iterator in a bounding box
Definition at line 345 of file OcTreeBaseImpl.h.
◆ end_tree()
|
inline |
- Returns
- end of the tree as iterator to all nodes (incl. inner)
Definition at line 350 of file OcTreeBaseImpl.h.
◆ expand()
|
virtual |
Expands all pruned nodes (reverse of prune())
- Note
- This is an expensive operation, especially when the tree is nearly empty!
◆ expandNode()
|
virtual |
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)
◆ expandRecurs()
|
protected |
recursive call of expand()
◆ getMetricMax() [1/2]
|
virtual |
maximum value of the bounding box of all known space in x, y, z
◆ getMetricMax() [2/2]
| 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
◆ getMetricMin() [1/2]
|
virtual |
minimum value of the bounding box of all known space in x, y, z
◆ getMetricMin() [2/2]
| 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
◆ getMetricSize() [1/2]
|
virtual |
Size of OcTree (all known space) in meters for x, y and z dimension.
◆ getMetricSize() [2/2]
|
virtual |
Size of OcTree (all known space) in meters for x, y and z dimension.
◆ getNodeChild() [1/2]
| const NODE* octomap::OcTreeBaseImpl< NODE, INTERFACE >::getNodeChild | ( | const NODE * | node, |
| unsigned int | childIdx | ||
| ) | const |
- Returns
- const ptr to child number childIdx of node
◆ getNodeChild() [2/2]
| NODE* octomap::OcTreeBaseImpl< NODE, INTERFACE >::getNodeChild | ( | NODE * | node, |
| unsigned int | childIdx | ||
| ) | const |
- Returns
- ptr to child number childIdx of node
◆ getNodeSize()
|
inline |
Definition at line 113 of file OcTreeBaseImpl.h.
◆ getNumLeafNodes()
| size_t octomap::OcTreeBaseImpl< NODE, INTERFACE >::getNumLeafNodes | ( | ) | const |
Traverses the tree to calculate the total number of leaf nodes.
◆ getNumLeafNodesRecurs()
|
protected |
◆ getResolution()
|
inline |
Definition at line 109 of file OcTreeBaseImpl.h.
◆ getRoot()
|
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. In an empty tree, root is NULL.
Definition at line 179 of file OcTreeBaseImpl.h.
◆ getTreeDepth()
|
inline |
Definition at line 111 of file OcTreeBaseImpl.h.
◆ getTreeType()
|
inline |
Definition at line 104 of file OcTreeBaseImpl.h.
◆ getUnknownLeafCenters()
| void octomap::OcTreeBaseImpl< NODE, INTERFACE >::getUnknownLeafCenters | ( | point3d_list & | node_centers, |
| point3d | pmin, | ||
| point3d | pmax, | ||
| unsigned int | depth = 0 |
||
| ) | const |
return centers of leafs that do NOT exist (but could) in a given bounding box
◆ init()
|
protected |
initialize non-trivial members, helper for constructors
◆ isNodeCollapsible()
|
virtual |
A node is collapsible if all children exist, don't have children of their own and have the same occupancy value
Reimplemented in octomap::ColorOcTree.
◆ keyToCoord() [1/4]
|
inline |
converts from an addressing key at the lowest tree level into a coordinate corresponding to the key's center
Definition at line 490 of file OcTreeBaseImpl.h.
◆ keyToCoord() [2/4]
|
inline |
converts from an addressing key at a given depth into a coordinate corresponding to the key's center
Definition at line 496 of file OcTreeBaseImpl.h.
◆ keyToCoord() [3/4]
|
inline |
converts from a discrete key at the lowest tree level into a coordinate corresponding to the key's center
Definition at line 484 of file OcTreeBaseImpl.h.
◆ keyToCoord() [4/4]
| double octomap::OcTreeBaseImpl< NODE, INTERFACE >::keyToCoord | ( | key_type | key, |
| unsigned | depth | ||
| ) | const |
converts from a discrete key at a given depth into a coordinate corresponding to the key's center
◆ memoryFullGrid()
| unsigned long long octomap::OcTreeBaseImpl< NODE, INTERFACE >::memoryFullGrid | ( | ) | const |
- Returns
- Memory usage of a full grid of the same size as the OcTree in bytes (for comparison)
- Note
- this can be larger than the adressable memory - size_t may not be enough to hold it!
◆ memoryUsage()
|
virtual |
- Returns
- Memory usage of the complete octree in bytes (may vary between architectures)
◆ memoryUsageNode()
|
inlinevirtual |
- Returns
- Memory usage of a single octree node
Definition at line 247 of file OcTreeBaseImpl.h.
◆ nodeChildExists()
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::nodeChildExists | ( | const NODE * | node, |
| unsigned int | childIdx | ||
| ) | const |
Safe test if node has a child at index childIdx. First tests if there are any children. Replaces node->childExists(...)
- Returns
- true if the child at childIdx exists
◆ nodeHasChildren()
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::nodeHasChildren | ( | const NODE * | node | ) | const |
Safe test if node has any children. Replaces node->hasChildren(...)
- Returns
- true if node has at least one child
◆ operator=()
|
private |
Assignment operator is private: don't (re-)assign octrees (const-parameters can't be changed) - use the copy constructor instead.
◆ operator==()
| bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::operator== | ( | const OcTreeBaseImpl< NODE, INTERFACE > & | rhs | ) | const |
Comparison between two octrees, all meta data, all nodes, and the structure must be identical
◆ prune()
|
virtual |
Lossless compression of the octree: A node will replace all of its eight children if they have identical values. You usually don't have to call prune() after a regular occupancy update, updateNode() incrementally prunes all affected nodes.
◆ pruneNode()
|
virtual |
Prunes a node when it is collapsible
- Returns
- true if pruning was successful
Reimplemented in octomap::ColorOcTree.
◆ pruneRecurs()
|
protected |
recursive call of prune()
◆ readData()
| 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.
◆ readNodesRecurs()
|
protected |
recursive call of readData()
◆ search() [1/3]
| NODE* octomap::OcTreeBaseImpl< NODE, INTERFACE >::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) You need to check if the returned node is NULL, since it can be in unknown space.
- Returns
- pointer to node if found, NULL otherwise
◆ search() [2/3]
| NODE* octomap::OcTreeBaseImpl< NODE, INTERFACE >::search | ( | const point3d & | value, |
| unsigned int | depth = 0 |
||
| ) | const |
Search node at specified depth given a 3d point (depth=0: search full tree depth) You need to check if the returned node is NULL, since it can be in unknown space.
- Returns
- pointer to node if found, NULL otherwise
◆ search() [3/3]
| NODE* octomap::OcTreeBaseImpl< NODE, INTERFACE >::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). You need to check if the returned node is NULL, since it can be in unknown space.
- Returns
- pointer to node if found, NULL otherwise
◆ setResolution()
| void octomap::OcTreeBaseImpl< NODE, INTERFACE >::setResolution | ( | double | r | ) |
Change the resolution of the octree, scaling all voxels. This will not preserve the (metric) scale!
◆ size()
|
inlinevirtual |
- Returns
- The number of nodes in the tree
Definition at line 241 of file OcTreeBaseImpl.h.
◆ swapContent()
| void octomap::OcTreeBaseImpl< NODE, INTERFACE >::swapContent | ( | OcTreeBaseImpl< NODE, INTERFACE > & | rhs | ) |
Swap contents of two octrees, i.e., only the underlying pointer / tree structure. You have to ensure yourself that the metadata (resolution etc) matches. No memory is cleared in this function
◆ volume()
| double octomap::OcTreeBaseImpl< NODE, INTERFACE >::volume | ( | ) |
◆ writeData()
| 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)
◆ writeNodesRecurs()
|
protected |
recursive call of writeData()
Member Data Documentation
◆ keyrays
|
protected |
data structure for ray casting, array for multithreading
Definition at line 562 of file OcTreeBaseImpl.h.
◆ leaf_iterator_bbx_end
|
protected |
Definition at line 565 of file OcTreeBaseImpl.h.
◆ leaf_iterator_end
|
protected |
Definition at line 564 of file OcTreeBaseImpl.h.
◆ max_value
|
protected |
max in x, y, z
Definition at line 556 of file OcTreeBaseImpl.h.
◆ min_value
|
protected |
min in x, y, z
Definition at line 557 of file OcTreeBaseImpl.h.
◆ resolution
|
protected |
in meters
Definition at line 547 of file OcTreeBaseImpl.h.
◆ resolution_factor
|
protected |
= 1. / resolution
Definition at line 548 of file OcTreeBaseImpl.h.
◆ root
|
protected |
Pointer to the root NODE, NULL for empty tree.
Definition at line 542 of file OcTreeBaseImpl.h.
◆ size_changed
|
protected |
flag to denote whether the octree extent changed (for lazy min/max eval)
Definition at line 552 of file OcTreeBaseImpl.h.
◆ sizeLookupTable
|
protected |
contains the size of a voxel at level i (0: root node). tree_depth+1 levels (incl. 0)
Definition at line 559 of file OcTreeBaseImpl.h.
◆ tree_center
|
protected |
Definition at line 554 of file OcTreeBaseImpl.h.
◆ tree_depth
|
protected |
Maximum tree depth is fixed to 16 currently.
Definition at line 545 of file OcTreeBaseImpl.h.
◆ tree_iterator_end
|
protected |
Definition at line 566 of file OcTreeBaseImpl.h.
◆ tree_max_val
|
protected |
Definition at line 546 of file OcTreeBaseImpl.h.
◆ tree_size
|
protected |
number of nodes in tree
Definition at line 550 of file OcTreeBaseImpl.h.
The documentation for this class was generated from the following file: