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 (double resolution)
	ButOctomapROS (OctreeT *tree)
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 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)
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 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 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).
OctreeT::NodeType *	search (const tf::Point &point) const
void	setTree (OctreeT *tree)
virtual	~ButOctomapROS ()
Protected Attributes
OctreePtr	octree
	the wrapped OctoMap octree

Detailed Description

template<class OctreeT>
class octomap::ButOctomapROS< OctreeT >

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.

Member Typedef Documentation

template<class OctreeT >

typedef OctreeT::NodeType octomap::ButOctomapROS< OctreeT >::NodeType

Type of the wrapped octree's nodes.

Definition at line 171 of file ButOctomapRos.h.

template<class OctreeT >

typedef boost::shared_ptr<OctreeT> octomap::ButOctomapROS< OctreeT >::OctreePtr

Definition at line 172 of file ButOctomapRos.h.

template<class OctreeT >

typedef OctreeT octomap::ButOctomapROS< OctreeT >::OcTreeType

Type of the wrapped octree.

Definition at line 170 of file ButOctomapRos.h.

Constructor & Destructor Documentation

template<class OctreeT >

octomap::ButOctomapROS< OctreeT >::ButOctomapROS ( double resolution )

Definition at line 197 of file ButOctomapRos.h.

template<class OctreeT >

octomap::ButOctomapROS< OctreeT >::ButOctomapROS ( OctreeT * tree )

Definition at line 204 of file ButOctomapRos.h.

template<class OctreeT >

virtual octomap::ButOctomapROS< OctreeT >::~ButOctomapROS ( ) [inline, virtual]

Definition at line 79 of file ButOctomapRos.h.

Member Function Documentation

template<class OctreeT >

template<class PointT >

bool octomap::ButOctomapROS< OctreeT >::castRay	(	const PointT &	origin,
		const PointT &	direction,
		PointT &	end,
		bool	ignoreUnknownCells = `false`,
		double	maxRange = `-1.0`
	)		const

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.

Parameters:

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)

Returns:: whether or not an occupied cell was hit

Definition at line 276 of file ButOctomapRos.h.

template<class OctreeT >

OctreeT& octomap::ButOctomapROS< OctreeT >::getTree ( ) [inline]

Definition at line 174 of file ButOctomapRos.h.

template<class OctreeT >

template<class PointT >

bool octomap::ButOctomapROS< OctreeT >::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.

Parameters:

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

Returns:

Definition at line 267 of file ButOctomapRos.h.

template<class OctreeT >

template<class PointT >

void octomap::ButOctomapROS< OctreeT >::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)

Parameters:

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.

template<class OctreeT >

template<class PCLPointT , class PointT >

void octomap::ButOctomapROS< OctreeT >::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)

Parameters:

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.

template<class OctreeT >

template<class PCLPointT , class PCLQuaternionT >

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`
	)

Integrate a 3d scan in relative coordinates, transform scan before tree update.

Parameters:

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.

template<class OctreeT >

template<class PointT >

OctreeT::NodeType * octomap::ButOctomapROS< OctreeT >::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).

Parameters:

point The searched coordinate. Any type of Point that has x,y,z members (e.g. pcl::PointXYZ or a geometry_msgs::Point) works.

Returns:: Pointer to the octree node at the coordinate if it exists, NULL if it doesn't.

Definition at line 293 of file ButOctomapRos.h.

template<class OctreeT >

OctreeT::NodeType * octomap::ButOctomapROS< OctreeT >::search ( const tf::Point & point ) const

Definition at line 298 of file ButOctomapRos.h.

template<class OctreeT >

void octomap::ButOctomapROS< OctreeT >::setTree ( OctreeT * tree )

Definition at line 211 of file ButOctomapRos.h.

Member Data Documentation

template<class OctreeT >

OctreePtr octomap::ButOctomapROS< OctreeT >::octree [protected]

the wrapped OctoMap octree

Definition at line 179 of file ButOctomapRos.h.

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

ButOctomapRos.h

Public Types

Public Member Functions

Protected Attributes

Detailed Description

template<class OctreeT> class octomap::ButOctomapROS< OctreeT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class OctreeT>
class octomap::ButOctomapROS< OctreeT >