MapCollection.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
00006  * All rights reserved.
00007  * License: New BSD
00008  *
00009  * Redistribution and use in source and binary forms, with or without
00010  * modification, are permitted provided that the following conditions are met:
00011  *
00012  *     * Redistributions of source code must retain the above copyright
00013  *       notice, this list of conditions and the following disclaimer.
00014  *     * Redistributions in binary form must reproduce the above copyright
00015  *       notice, this list of conditions and the following disclaimer in the
00016  *       documentation and/or other materials provided with the distribution.
00017  *     * Neither the name of the University of Freiburg nor the names of its
00018  *       contributors may be used to endorse or promote products derived from
00019  *       this software without specific prior written permission.
00020  *
00021  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00022  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00023  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00024  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00025  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00026  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00027  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00028  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00029  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00030  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00031  * POSSIBILITY OF SUCH DAMAGE.
00032  */
00033 
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     // TODO
00068     void insertScan(const Pointcloud& scan, const octomap::point3d& sensor_origin,
00069                     double maxrange=-1., bool pruning=true, bool lazy_eval = false);
00070     // TODO
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     // TODO
00086     std::vector<Pointcloud*> segment(const Pointcloud& scan) const;
00087     // TODO
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 } // end namespace
00100 
00101 #include "octomap/MapCollection.hxx"
00102 
00103 #endif


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