ROS wrapper class for OctoMap Octrees, providing the most important functionality with ROS / PCL types. The class is templated over the Octree type. Any OcTree derived from octomap::OccupancyOcTreeBase should work. For most cases, OcTreeROS should work best for occupancy maps. More...
#include <ButOctomapRos.h>
Public Types | |
| typedef OctreeT::NodeType | NodeType |
| Type of the wrapped octree's nodes. | |
| typedef boost::shared_ptr < OctreeT > | OctreePtr |
| typedef OctreeT | OcTreeType |
| Type of the wrapped octree. | |
Public Member Functions | |
| ButOctomapROS (OctreeT *tree) | |
| ButOctomapROS (double resolution) | |
| template<class PointT > | |
| bool | castRay (const PointT &origin, const PointT &direction, PointT &end, bool ignoreUnknownCells=false, double maxRange=-1.0) const |
| Performs raycasting in 3d. | |
| OctreeT & | getTree () |
| template<class PointT > | |
| bool | insertRay (const PointT &origin, const PointT &end, double maxRange=-1.0) |
| Insert one ray between origin and end into the tree. The last node will be marked as occupied, all others on the ray as free. | |
| template<class PCLPointT , class PCLQuaternionT > | |
| void | insertScan (const pcl::PointCloud< PCLPointT > &scan, const PCLPointT &sensor_origin, const PCLPointT &frame_origin_trans, const PCLQuaternionT &frame_origin_rot, double maxrange=-1., bool pruning=true, bool dirty=false) |
| Integrate a 3d scan in relative coordinates, transform scan before tree update. | |
| template<class PCLPointT , class PointT > | |
| void | insertScan (const pcl::PointCloud< PCLPointT > &scan, const PointT &origin, double maxrange=-1., bool pruning=true, bool dirty=false) |
| Integrate a Pointcloud measurement (in global reference frame). | |
| template<class PointT > | |
| void | insertScan (const sensor_msgs::PointCloud2 &scan, const PointT &origin, double maxrange=-1., bool pruning=true, bool dirty=false) |
| Integrate a Pointcloud measurement (ROS msg, in global reference frame). | |
| OctreeT::NodeType * | search (const tf::Point &point) const |
| template<class PointT > | |
| OctreeT::NodeType * | search (const PointT &point) const |
| Search for a Node in the octree at a given coordinate. You need to check if a node is found at all (returned pointer != NULL). | |
| void | setTree (OctreeT *tree) |
| virtual | ~ButOctomapROS () |
Protected Attributes | |
| OctreePtr | octree |
| the wrapped OctoMap octree | |
ROS wrapper class for OctoMap Octrees, providing the most important functionality with ROS / PCL types. The class is templated over the Octree type. Any OcTree derived from octomap::OccupancyOcTreeBase should work. For most cases, OcTreeROS should work best for occupancy maps.
Definition at line 75 of file ButOctomapRos.h.
| typedef OctreeT::NodeType octomap::ButOctomapROS< OctreeT >::NodeType |
Type of the wrapped octree's nodes.
Definition at line 171 of file ButOctomapRos.h.
| typedef boost::shared_ptr<OctreeT> octomap::ButOctomapROS< OctreeT >::OctreePtr |
Definition at line 172 of file ButOctomapRos.h.
| typedef OctreeT octomap::ButOctomapROS< OctreeT >::OcTreeType |
Type of the wrapped octree.
Definition at line 170 of file ButOctomapRos.h.
| octomap::ButOctomapROS< OctreeT >::ButOctomapROS | ( | double | resolution | ) | [inline] |
Definition at line 197 of file ButOctomapRos.h.
| octomap::ButOctomapROS< OctreeT >::ButOctomapROS | ( | OctreeT * | tree | ) | [inline] |
Definition at line 204 of file ButOctomapRos.h.
| virtual octomap::ButOctomapROS< OctreeT >::~ButOctomapROS | ( | ) | [inline, virtual] |
Definition at line 79 of file ButOctomapRos.h.
| bool octomap::ButOctomapROS< OctreeT >::castRay | ( | const PointT & | origin, | |
| const PointT & | direction, | |||
| PointT & | end, | |||
| bool | ignoreUnknownCells = false, |
|||
| double | maxRange = -1.0 | |||
| ) | const [inline] |
Performs raycasting in 3d.
A ray is cast from origin with a given direction, the first occupied cell is returned (as center coordinate). If the starting coordinate is already occupied in the tree, this coordinate will be returned as a hit.
| origin | Any type of Point that has x,y,z members (e.g. pcl::PointXYZ or a geometry_msgs::Point) works. | |
| direction | Any type of Point that has x,y,z members (e.g. pcl::PointXYZ or a geometry_msgs::Point) works. | |
| end | Any type of Point that has x,y,z members (e.g. pcl::PointXYZ or a geometry_msgs::Point) works. | |
| ignoreUnknownCells | whether unknown cells are ignored. If false (default), the raycast aborts when an unkown cell is hit. | |
| maxRange | Maximum range after which the raycast is aborted (<= 0: no limit, default) |
Definition at line 276 of file ButOctomapRos.h.
| OctreeT& octomap::ButOctomapROS< OctreeT >::getTree | ( | ) | [inline] |
Definition at line 174 of file ButOctomapRos.h.
| bool octomap::ButOctomapROS< OctreeT >::insertRay | ( | const PointT & | origin, | |
| const PointT & | end, | |||
| double | maxRange = -1.0 | |||
| ) | [inline] |
Insert one ray between origin and end into the tree. The last node will be marked as occupied, all others on the ray as free.
| origin | Any type of Point that has x,y,z members (e.g. pcl::PointXYZ or a geometry_msgs::Point) works. | |
| end | Any type of Point that has x,y,z members (e.g. pcl::PointXYZ or a geometry_msgs::Point) works. | |
| maxRange |
Definition at line 267 of file ButOctomapRos.h.
| void octomap::ButOctomapROS< OctreeT >::insertScan | ( | const pcl::PointCloud< PCLPointT > & | scan, | |
| const PCLPointT & | sensor_origin, | |||
| const PCLPointT & | frame_origin_trans, | |||
| const PCLQuaternionT & | frame_origin_rot, | |||
| double | maxrange = -1., |
|||
| bool | pruning = true, |
|||
| bool | dirty = false | |||
| ) | [inline] |
Integrate a 3d scan in relative coordinates, transform scan before tree update.
| pc | Pointcloud (measurement endpoints) relative to frame origin | |
| sensor_origin | origin of sensor relative to frame origin | |
| frame_origin_trans | Translation of reference frame origin, determines transform to be applied to cloud and sensor origin | |
| frame_origin_rot | Rotation (as quaternion) of reference frame origin, determines transform to be applied to cloud and sensor origin | |
| maxrange | maximum range for how long individual beams are inserted (default -1: complete beam) | |
| pruning | whether the tree is (losslessly) pruned after insertion (default: true) This speeds up the insertion by not updating inner nodes, but you need to call octree.updateInnerOccupancy() when done. |
Definition at line 236 of file ButOctomapRos.h.
| void octomap::ButOctomapROS< OctreeT >::insertScan | ( | const pcl::PointCloud< PCLPointT > & | scan, | |
| const PointT & | origin, | |||
| double | maxrange = -1., |
|||
| bool | pruning = true, |
|||
| bool | dirty = false | |||
| ) | [inline] |
Integrate a Pointcloud measurement (in global reference frame).
| scan | pcl PointCloud of arbitrary type. Only the members x,y,z of the Points are used. | |
| origin | Origin of the scan. Any type of Point that has x,y,z members (e.g. pcl::PointXYZ or a geometry_msgs::Point) works. | |
| maxrange | maximum range for how long individual beams are inserted (default -1: complete beam) | |
| pruning | whether the tree is (losslessly) pruned after insertion (default: true) This speeds up the insertion by not updating inner nodes, but you need to call octree.updateInnerOccupancy() when done. |
Definition at line 223 of file ButOctomapRos.h.
| void octomap::ButOctomapROS< OctreeT >::insertScan | ( | const sensor_msgs::PointCloud2 & | scan, | |
| const PointT & | origin, | |||
| double | maxrange = -1., |
|||
| bool | pruning = true, |
|||
| bool | dirty = false | |||
| ) | [inline] |
Integrate a Pointcloud measurement (ROS msg, in global reference frame).
| scan | PointCloud2 of measurement endpoints | |
| origin | Origin of the scan. Any type of Point that has x,y,z member (e.g. pcl::PointXYZ or a geometry_msgs::Point) works. | |
| maxrange | maximum range for how long individual beams are inserted (default -1: complete beam) | |
| pruning | whether the tree is (losslessly) pruned after insertion (default: true) | |
| dirty | whether the tree is left 'dirty' after the update (default: false). This speeds up the insertion by not updating inner nodes, but you need to call octree.updateInnerOccupancy() when done. |
Definition at line 255 of file ButOctomapRos.h.
| OctreeT::NodeType * octomap::ButOctomapROS< OctreeT >::search | ( | const tf::Point & | point | ) | const [inline] |
Definition at line 298 of file ButOctomapRos.h.
| OctreeT::NodeType * octomap::ButOctomapROS< OctreeT >::search | ( | const PointT & | point | ) | const [inline] |
Search for a Node in the octree at a given coordinate. You need to check if a node is found at all (returned pointer != NULL).
| point | The searched coordinate. Any type of Point that has x,y,z members (e.g. pcl::PointXYZ or a geometry_msgs::Point) works. |
Definition at line 293 of file ButOctomapRos.h.
| void octomap::ButOctomapROS< OctreeT >::setTree | ( | OctreeT * | tree | ) | [inline] |
Definition at line 211 of file ButOctomapRos.h.
OctreePtr octomap::ButOctomapROS< OctreeT >::octree [protected] |
the wrapped OctoMap octree
Definition at line 179 of file ButOctomapRos.h.
