conversions.h File Reference

#include <octomap/octomap.h>
#include <octomap_msgs/OctomapBinary.h>

Include dependency graph for conversions.h:

Go to the source code of this file.

Namespaces
namespace	octomap
namespace	octomap_msgs
Functions
template<class OctomapT >
static bool	octomap_msgs::binaryMapToMsgData (const OctomapT &octomap, std::vector< int8_t > &mapData)
	Serialization of an octree into binary data e.g. for messages and services. Compact binary version (stores only max-likelihood free or occupied, .bt file format). The data will be much smaller if you call octomap.toMaxLikelihood() and octomap.prune() before.
static octomap::OcTree *	octomap_msgs::binaryMsgDataToMap (const std::vector< int8_t > &mapData)
	Creates a new octree by deserializing from the binary stream mapData, e.g. from a message or service (binary: only free and occupied .bt file format). This creates a new OcTree object and returns a pointer to it. You will need to free the memory when you're done.
template<class OctomapT >
static bool	octomap_msgs::fullMapToMsgData (const OctomapT &octomap, std::vector< int8_t > &mapData)
	Serialization of an octree into binary data e.g. for messages and services. Full probability version (stores complete state of tree, .ot file format). The data will be much smaller if you call octomap.toMaxLikelihood() and octomap.prune() before.
static octomap::AbstractOcTree *	octomap_msgs::fullMsgDataToMap (const std::vector< int8_t > &mapData)
	Creates a new octree by deserializing from the binary stream mapData, e.g. from a message or service (full probabilities, .ot file format). This calls the general file factory of OctoMap, creates a new object and return an AbstractOcTree* to it. You will need to free the memory when you're done.
template<class OctomapT >
static void	octomap::octomapMapToMsg (const OctomapT &octomap, octomap_msgs::OctomapBinary &mapMsg) __attribute__((deprecated))
	Deprecated, use octomap_msgs::binaryMapToMsgData() instead.
template<class OctomapT >
static void	octomap::octomapMapToMsgData (const OctomapT &octomap, std::vector< int8_t > &mapData) __attribute__((deprecated))
	Deprecated, use octomap_msgs::binaryMapToMsgData() instead.
template<class OctomapT >
static void	octomap::octomapMsgDataToMap (const std::vector< int8_t > &mapData, OctomapT &octomap) __attribute__((deprecated))
	Deprecated, use octomap_msgs::binaryMsgDataToMap() instead.
template<class OctomapT >
static void	octomap::octomapMsgToMap (const octomap_msgs::OctomapBinary &mapMsg, OctomapT &octomap) __attribute__((deprecated))
	Deprecated, use octomap_msgs::binaryMsgDataToMap() instead.