Class OcTree

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

Class Documentation

class OcTree : public octomap::OccupancyOcTreeBase<OcTreeNode>

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

Public Functions

OcTree(double resolution)

Default constructor, sets resolution of leafs.

OcTree(std::string _filename)

Reads an OcTree from a binary file

Parameters:

_filename –

inline virtual ~OcTree()
inline OcTree *create() const

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

inline std::string getTreeType() const

Protected Static Attributes

static StaticMemberInitializer ocTreeMemberInit

to ensure static initialization (only once)

class StaticMemberInitializer

Static member object which ensures that this OcTree’s prototype ends up in the classIDMapping only once. You need this as a static member in any derived octree class in order to read .ot files through the AbstractOcTree factory. You should also call ensureLinking() once from the constructor.

Public Functions

inline StaticMemberInitializer()
inline void ensureLinking()

Dummy function to ensure that MSVC does not drop the StaticMemberInitializer, causing this tree failing to register. Needs to be called from the constructor of this octree.