srs_env_model::EMOcTree Class Reference

#include <octonode.h>

List of all members.

Classes
class	StaticMemberInitializer
Public Types
typedef EModelTreeNode	tNode
	Used node type.
typedef octomap::point3d	tPoint
	Used point type.
typedef pcl::PointCloud < pcl::PointXYZRGB >	typePointCloud
Public Member Functions
EModelTreeNode *	averageNodeColor (const float &x, const float &y, const float &z, const unsigned char &r, const unsigned char &g, const unsigned char &b, const unsigned char &a)
EModelTreeNode *	averageNodeColor (const octomap::OcTreeKey &key, const unsigned char &r, const unsigned char &g, const unsigned char &b, const unsigned char &a)
EMOcTree *	create () const
void	degradeOutdatedNodes (unsigned int time_thres)
	EMOcTree (std::string _filename)
	EMOcTree (double _resolution)
unsigned int	getLastUpdateTime ()
std::string	getTreeType () const
void	insertColoredScan (const typePointCloud &coloredScan, const octomap::point3d &sensor_origin, double maxrange=-1., bool pruning=true, bool lazy_eval=false)
void	integrateMissNoTime (EModelTreeNode *node) const
EModelTreeNode *	integrateNodeColor (const float &x, const float &y, const float &z, const unsigned char &r, const unsigned char &g, const unsigned char &b, const unsigned char &a)
EModelTreeNode *	integrateNodeColor (const octomap::OcTreeKey &key, const unsigned char &r, const unsigned char &g, const unsigned char &b, const unsigned char &a)
EModelTreeNode *	setNodeColor (const float &x, const float &y, const float &z, const unsigned char &r, const unsigned char &g, const unsigned char &b, const unsigned char &a)
EModelTreeNode *	setNodeColor (const octomap::OcTreeKey &key, const unsigned char &r, const unsigned char &g, const unsigned char &b, const unsigned char &a)
void	updateInnerOccupancy ()
virtual void	updateNodeLogOdds (EModelTreeNode *node, const float &update) const
virtual	~EMOcTree ()
Protected Member Functions
void	updateInnerOccupancyRecurs (EModelTreeNode *node, unsigned int depth)
Static Protected Attributes
static StaticMemberInitializer	ocEMOcTreeMemberInit
	to ensure static initialization (only once)

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Detailed Description

octomap main map data structure, stores 3D occupancy grid map in an OcTree. Basic functionality is implemented in OcTreeBase.

Definition at line 147 of file octonode.h.

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Member Typedef Documentation

typedef EModelTreeNode srs_env_model::EMOcTree::tNode

Used node type.

Definition at line 154 of file octonode.h.

typedef octomap::point3d srs_env_model::EMOcTree::tPoint

Used point type.

Definition at line 151 of file octonode.h.

typedef pcl::PointCloud<pcl::PointXYZRGB> srs_env_model::EMOcTree::typePointCloud

Definition at line 156 of file octonode.h.

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Constructor & Destructor Documentation

srs_env_model::EMOcTree::EMOcTree

(

double

_resolution

)

Creates a new (empty) OcTree of a given resolution

Parameters:

_resolution

Definition at line 212 of file octonode.cpp.

srs_env_model::EMOcTree::EMOcTree

(

std::string

_filename

)

Reads an OcTree from a binary file

Parameters:

_filename

Definition at line 223 of file octonode.cpp.

virtual srs_env_model::EMOcTree::~EMOcTree

(

)

[inline, virtual]

Destructor

Definition at line 176 of file octonode.h.

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Member Function Documentation

EModelTreeNode* srs_env_model::EMOcTree::averageNodeColor	(	const float &	x,
		const float &	y,
		const float &	z,
		const unsigned char &	r,
		const unsigned char &	g,
		const unsigned char &	b,
		const unsigned char &	a
	)			[inline]

Definition at line 212 of file octonode.h.

srs_env_model::EModelTreeNode * srs_env_model::EMOcTree::averageNodeColor	(	const octomap::OcTreeKey &	key,
		const unsigned char &	r,
		const unsigned char &	g,
		const unsigned char &	b,
		const unsigned char &	a
	)

Definition at line 241 of file octonode.cpp.

EMOcTree* srs_env_model::EMOcTree::create

(

)

const [inline]

virtual constructor: creates a new object of same type (Covariant return type requires an up-to-date compiler)

Definition at line 182 of file octonode.h.

void srs_env_model::EMOcTree::degradeOutdatedNodes

(

unsigned int

time_thres

)

Definition at line 321 of file octonode.cpp.

unsigned int srs_env_model::EMOcTree::getLastUpdateTime

(

)

Returns:

timestamp of last update

Definition at line 315 of file octonode.cpp.

std::string srs_env_model::EMOcTree::getTreeType

(

)

const [inline]

Get tree type as a string.

Definition at line 189 of file octonode.h.

void srs_env_model::EMOcTree::insertColoredScan	(	const typePointCloud &	coloredScan,
		const octomap::point3d &	sensor_origin,
		double	maxrange = -1.,
		bool	pruning = true,
		bool	lazy_eval = false
	)

Definition at line 343 of file octonode.cpp.

void srs_env_model::EMOcTree::integrateMissNoTime

(

EModelTreeNode *

node

)

const

Definition at line 339 of file octonode.cpp.

EModelTreeNode* srs_env_model::EMOcTree::integrateNodeColor	(	const float &	x,
		const float &	y,
		const float &	z,
		const unsigned char &	r,
		const unsigned char &	g,
		const unsigned char &	b,
		const unsigned char &	a
	)			[inline]

Definition at line 227 of file octonode.h.

srs_env_model::EModelTreeNode * srs_env_model::EMOcTree::integrateNodeColor	(	const octomap::OcTreeKey &	key,
		const unsigned char &	r,
		const unsigned char &	g,
		const unsigned char &	b,
		const unsigned char &	a
	)

Definition at line 264 of file octonode.cpp.

EModelTreeNode* srs_env_model::EMOcTree::setNodeColor	(	const float &	x,
		const float &	y,
		const float &	z,
		const unsigned char &	r,
		const unsigned char &	g,
		const unsigned char &	b,
		const unsigned char &	a
	)			[inline]

Definition at line 198 of file octonode.h.

srs_env_model::EModelTreeNode * srs_env_model::EMOcTree::setNodeColor	(	const octomap::OcTreeKey &	key,
		const unsigned char &	r,
		const unsigned char &	g,
		const unsigned char &	b,
		const unsigned char &	a
	)

Definition at line 231 of file octonode.cpp.

void srs_env_model::EMOcTree::updateInnerOccupancy

(

)

Definition at line 294 of file octonode.cpp.

void srs_env_model::EMOcTree::updateInnerOccupancyRecurs	(	EModelTreeNode *	node,
		unsigned int	depth
	)			[protected]

Definition at line 298 of file octonode.cpp.

void srs_env_model::EMOcTree::updateNodeLogOdds	(	EModelTreeNode *	node,
		const float &	update
	)			const [virtual]

Definition at line 333 of file octonode.cpp.

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Member Data Documentation

srs_env_model::EMOcTree::StaticMemberInitializer srs_env_model::EMOcTree::ocEMOcTreeMemberInit [static, protected]

to ensure static initialization (only once)

Definition at line 271 of file octonode.h.

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

• octonode.h
• octonode.cpp