AbstractOccupancyOcTree.h
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00001 /*
00002  * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
00003  * http://octomap.github.com/
00004  *
00005  * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
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00009  * Redistribution and use in source and binary forms, with or without
00010  * modification, are permitted provided that the following conditions are met:
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00015  *       notice, this list of conditions and the following disclaimer in the
00016  *       documentation and/or other materials provided with the distribution.
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00019  *       this software without specific prior written permission.
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00033 
00034 #ifndef OCTOMAP_ABSTRACT_OCCUPANCY_OCTREE_H
00035 #define OCTOMAP_ABSTRACT_OCCUPANCY_OCTREE_H
00036 
00037 #include "AbstractOcTree.h"
00038 #include "octomap_utils.h"
00039 #include "OcTreeNode.h"
00040 #include "OcTreeKey.h"
00041 #include <cassert>
00042 #include <fstream>
00043 
00044 
00045 namespace octomap {
00046 
00052   class AbstractOccupancyOcTree : public AbstractOcTree {
00053   public:
00054     AbstractOccupancyOcTree();
00055     virtual ~AbstractOccupancyOcTree() {};
00056 
00057     //-- IO
00058 
00064     bool writeBinary(const std::string& filename);
00065 
00072     bool writeBinary(std::ostream &s);
00073 
00081     bool writeBinaryConst(const std::string& filename) const;
00082 
00089     bool writeBinaryConst(std::ostream &s) const;
00090 
00092     virtual std::ostream& writeBinaryData(std::ostream &s) const = 0;
00093     
00099     bool readBinary(std::istream &s);
00100     
00106     bool readBinary(const std::string& filename);
00107 
00109     virtual std::istream& readBinaryData(std::istream &s) = 0;
00110 
00111     // -- occupancy queries
00112 
00114     inline bool isNodeOccupied(const OcTreeNode* occupancyNode) const{
00115       return (occupancyNode->getLogOdds() >= this->occ_prob_thres_log);
00116     }
00117 
00119     inline bool isNodeOccupied(const OcTreeNode& occupancyNode) const{
00120       return (occupancyNode.getLogOdds() >= this->occ_prob_thres_log);
00121     }
00122 
00124     inline bool isNodeAtThreshold(const OcTreeNode* occupancyNode) const{
00125       return (occupancyNode->getLogOdds() >= this->clamping_thres_max
00126           || occupancyNode->getLogOdds() <= this->clamping_thres_min);
00127     }
00128 
00130     inline bool isNodeAtThreshold(const OcTreeNode& occupancyNode) const{
00131       return (occupancyNode.getLogOdds() >= this->clamping_thres_max
00132           || occupancyNode.getLogOdds() <= this->clamping_thres_min);
00133     }
00134 
00135     // - update functions
00136 
00146     virtual OcTreeNode* updateNode(const OcTreeKey& key, float log_odds_update, bool lazy_eval = false) = 0;
00147 
00158     virtual OcTreeNode* updateNode(const point3d& value, float log_odds_update, bool lazy_eval = false) = 0;
00159 
00169     virtual OcTreeNode* updateNode(const OcTreeKey& key, bool occupied, bool lazy_eval = false) = 0;
00170 
00181     virtual OcTreeNode* updateNode(const point3d& value, bool occupied, bool lazy_eval = false) = 0;
00182 
00183     virtual void toMaxLikelihood() = 0;
00184 
00185     //-- parameters for occupancy and sensor model:
00186 
00188     void setOccupancyThres(double prob){occ_prob_thres_log = logodds(prob); }
00190     void setProbHit(double prob){prob_hit_log = logodds(prob); assert(prob_hit_log >= 0.0);}
00192     void setProbMiss(double prob){prob_miss_log = logodds(prob); assert(prob_miss_log <= 0.0);}
00194     void setClampingThresMin(double thresProb){clamping_thres_min = logodds(thresProb); }
00196     void setClampingThresMax(double thresProb){clamping_thres_max = logodds(thresProb); }
00197 
00199     double getOccupancyThres() const {return probability(occ_prob_thres_log); }
00201     float getOccupancyThresLog() const {return occ_prob_thres_log; }
00202 
00204     double getProbHit() const {return probability(prob_hit_log); }
00206     float getProbHitLog() const {return prob_hit_log; }
00208     double getProbMiss() const {return probability(prob_miss_log); }
00210     float getProbMissLog() const {return prob_miss_log; }
00211 
00213     double getClampingThresMin() const {return probability(clamping_thres_min); }
00215     float getClampingThresMinLog() const {return clamping_thres_min; }
00217     double getClampingThresMax() const {return probability(clamping_thres_max); }
00219     float getClampingThresMaxLog() const {return clamping_thres_max; }
00220 
00221 
00222 
00223 
00224   protected:
00226     bool readBinaryLegacyHeader(std::istream &s, unsigned int& size, double& res);
00227     
00228     // occupancy parameters of tree, stored in logodds:
00229     float clamping_thres_min;
00230     float clamping_thres_max;
00231     float prob_hit_log;
00232     float prob_miss_log;
00233     float occ_prob_thres_log;
00234 
00235     static const std::string binaryFileHeader;
00236   };
00237 
00238 }; // end namespace
00239 
00240 
00241 #endif


octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Thu Aug 27 2015 14:13:14