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00034 #ifndef OCTOMAP_MAP_COLLECTION_H
00035 #define OCTOMAP_MAP_COLLECTION_H
00036
00037
00038 #include <vector>
00039 #include <octomap/MapNode.h>
00040
00041 namespace octomap {
00042
00043
00044 template <class MAPNODE>
00045 class MapCollection {
00046 public:
00047 MapCollection();
00048 MapCollection(std::string filename);
00049 ~MapCollection();
00050
00051 void addNode( MAPNODE* node);
00052 MAPNODE* addNode(const Pointcloud& cloud, point3d sensor_origin);
00053 bool removeNode(const MAPNODE* n);
00054 MAPNODE* queryNode(const point3d& p);
00055
00056 bool isOccupied(const point3d& p) const;
00057 bool isOccupied(float x, float y, float z) const;
00058
00059 float getOccupancy(const point3d& p);
00060
00061 bool castRay(const point3d& origin, const point3d& direction, point3d& end,
00062 bool ignoreUnknownCells=false, double maxRange=-1.0) const;
00063
00064 bool writePointcloud(std::string filename);
00065 bool write(std::string filename);
00066
00067
00068 void insertScan(const Pointcloud& scan, const octomap::point3d& sensor_origin,
00069 double maxrange=-1., bool pruning=true, bool lazy_eval = false);
00070
00071 MAPNODE* queryNode(std::string id);
00072
00073 typedef typename std::vector<MAPNODE*>::iterator iterator;
00074 typedef typename std::vector<MAPNODE*>::const_iterator const_iterator;
00075 iterator begin() { return nodes.begin(); }
00076 iterator end() { return nodes.end(); }
00077 const_iterator begin() const { return nodes.begin(); }
00078 const_iterator end() const { return nodes.end(); }
00079 size_t size() const { return nodes.size(); }
00080
00081 protected:
00082 void clear();
00083 bool read(std::string filename);
00084
00085
00086 std::vector<Pointcloud*> segment(const Pointcloud& scan) const;
00087
00088 MAPNODE* associate(const Pointcloud& scan);
00089
00090 static void splitPathAndFilename(std::string &filenamefullpath, std::string* path, std::string *filename);
00091 static std::string combinePathAndFilename(std::string path, std::string filename);
00092 static bool readTagValue(std::string tag, std::ifstream &infile, std::string* value);
00093
00094 protected:
00095
00096 std::vector<MAPNODE*> nodes;
00097 };
00098
00099 }
00100
00101 #include "octomap/MapCollection.hxx"
00102
00103 #endif