octomap Namespace Reference

Classes
class	OctomapROS
	DEPRECATED wrapper class for OctoMap Octrees. Is is recommended to use the OctoMap libary and octomap_ros/conversions.h directly instead! More...
Typedefs
typedef OctomapROS< OcTree >	OcTreeROS
	The default octomap::OcTree wrapped in ROS. OcTree provides a 3D occupancy map which stores log-odds in OcTreeNodes of floats.
Functions
static template void	pointcloudPCLToOctomap (const pcl::PointCloud< pcl::PointXYZ > &pclCloud, Pointcloud &octomapCloud)
template<class PointT >
static void	pointcloudPCLToOctomap (const pcl::PointCloud< PointT > &pclCloud, Pointcloud &octomapCloud)
	Conversion from a PCL pointcloud to octomap::Pointcloud, used internally in OctoMap.
static octomap::point3d	pointMsgToOctomap (const geometry_msgs::Point &ptMsg)
	Conversion from geometry_msgs::Point to octomap::point3d.
static geometry_msgs::Point	pointOctomapToMsg (const point3d &octomapPt)
	Conversion from octomap::point3d to geometry_msgs::Point.
template<class PointT >
static PointT	pointOctomapToPCL (const point3d &octomapPt)
static tf::Point	pointOctomapToTf (const point3d &octomapPt)
	Conversion from octomap::point3d to tf::Point.
template<class PointT >
static octomap::point3d	pointPCLToOctomap (const PointT &p)
	Conversion from pcl::PointT to octomap::point3d.
static template void	pointsOctomapToPCL (const point3d_list &points, pcl::PointCloud< pcl::PointXYZ > &cloud)
template<class PointT >
static void	pointsOctomapToPCL (const point3d_list &points, pcl::PointCloud< PointT > &cloud)
	Conversion from octomap::point3d_list (e.g. all occupied nodes from getOccupied()) to pcl PointCloud.
static octomap::point3d	pointTfToOctomap (const tf::Point &ptTf)
	Conversion from tf::Point to octomap::point3d.
static tf::Pose	poseOctomapToTf (const octomap::pose6d &octomapPose)
	Conversion from octomap::pose6f to tf::Pose.
static octomap::pose6d	poseTfToOctomap (const tf::Pose &poseTf)
	Conversion from tf::Pose to octomap::pose6d.
static tf::Quaternion	quaternionOctomapToTf (const octomath::Quaternion &octomapQ)
	Conversion from octomap Quaternion to tf::Quaternion.
static octomath::Quaternion	quaternionTfToOctomap (const tf::Quaternion &qTf)
	Conversion from tf::Quaternion to octomap Quaternion.

---

Detailed Description

OctoMap ROS integration

Author:

A. Hornung, University of Freiburg, Copyright (C) 2011-2012.

See also:

http://www.ros.org/wiki/octomap_ros License: BSD

OctoMap ROS integration

Author:

A. Hornung, University of Freiburg, Copyright (C) 2011-2012

See also:

http://www.ros.org/wiki/octomap_ros License: BSD

OctoMap ROS integration

Author:

A. Hornung, University of Freiburg, Copyright (C) 2011.

See also:

http://www.ros.org/wiki/octomap_ros License: BSD

---

Typedef Documentation

typedef OctomapROS<OcTree> octomap::OcTreeROS

The default octomap::OcTree wrapped in ROS. OcTree provides a 3D occupancy map which stores log-odds in OcTreeNodes of floats.

Definition at line 175 of file OctomapROS.h.

---

Function Documentation

static template void octomap::pointcloudPCLToOctomap	(	const pcl::PointCloud< pcl::PointXYZ > &	pclCloud,
		Pointcloud &	octomapCloud
	)		[static]

template<class PointT >

static void octomap::pointcloudPCLToOctomap	(	const pcl::PointCloud< PointT > &	pclCloud,
		Pointcloud &	octomapCloud
	)		[inline, static]

Conversion from a PCL pointcloud to octomap::Pointcloud, used internally in OctoMap.

Parameters:

pclCloud
octomapCloud

Definition at line 77 of file conversions.h.

static octomap::point3d octomap::pointMsgToOctomap

(

const geometry_msgs::Point &

ptMsg

)

[inline, static]

Conversion from geometry_msgs::Point to octomap::point3d.

Definition at line 100 of file conversions.h.

static geometry_msgs::Point octomap::pointOctomapToMsg

(

const point3d &

octomapPt

)

[inline, static]

Conversion from octomap::point3d to geometry_msgs::Point.

Definition at line 90 of file conversions.h.

template<class PointT >

static PointT octomap::pointOctomapToPCL

(

const point3d &

octomapPt

)

[inline, static]

Conversion from octomap::point3d to pcl::PointT, templated over pcl::PointT You might have to call this like "pointOctomapToPCL<pcl::PointXYZ>(point3d)"

Definition at line 123 of file conversions.h.

static tf::Point octomap::pointOctomapToTf

(

const point3d &

octomapPt

)

[inline, static]

Conversion from octomap::point3d to tf::Point.

Definition at line 105 of file conversions.h.

template<class PointT >

static octomap::point3d octomap::pointPCLToOctomap

(

const PointT &

p

)

[inline, static]

Conversion from pcl::PointT to octomap::point3d.

Definition at line 116 of file conversions.h.

static template void octomap::pointsOctomapToPCL	(	const point3d_list &	points,
		pcl::PointCloud< pcl::PointXYZ > &	cloud
	)		[static]

template<class PointT >

static void octomap::pointsOctomapToPCL	(	const point3d_list &	points,
		pcl::PointCloud< PointT > &	cloud
	)		[inline, static]

Conversion from octomap::point3d_list (e.g. all occupied nodes from getOccupied()) to pcl PointCloud.

Parameters:

points
scan

Definition at line 61 of file conversions.h.

static octomap::point3d octomap::pointTfToOctomap

(

const tf::Point &

ptTf

)

[inline, static]

Conversion from tf::Point to octomap::point3d.

Definition at line 110 of file conversions.h.

static tf::Pose octomap::poseOctomapToTf

(

const octomap::pose6d &

octomapPose

)

[inline, static]

Conversion from octomap::pose6f to tf::Pose.

Definition at line 138 of file conversions.h.

static octomap::pose6d octomap::poseTfToOctomap

(

const tf::Pose &

poseTf

)

[inline, static]

Conversion from tf::Pose to octomap::pose6d.

Definition at line 143 of file conversions.h.

static tf::Quaternion octomap::quaternionOctomapToTf

(

const octomath::Quaternion &

octomapQ

)

[inline, static]

Conversion from octomap Quaternion to tf::Quaternion.

Definition at line 128 of file conversions.h.

static octomath::Quaternion octomap::quaternionTfToOctomap

(

const tf::Quaternion &

qTf

)

[inline, static]

Conversion from tf::Quaternion to octomap Quaternion.

Definition at line 133 of file conversions.h.