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_NODE_H 00035 #define OCTOMAP_MAP_NODE_H 00036 00037 00038 #include <string> 00039 #include <octomap/OcTree.h> 00040 00041 namespace octomap { 00042 00043 template <class TREETYPE> 00044 class MapNode { 00045 00046 public: 00047 MapNode(); 00048 MapNode(TREETYPE* node_map, pose6d origin); 00049 MapNode(std::string filename, pose6d origin); 00050 MapNode(const Pointcloud& cloud, pose6d origin); 00051 ~MapNode(); 00052 00053 typedef TREETYPE TreeType; 00054 00055 TREETYPE* getMap() { return node_map; } 00056 00057 void updateMap(const Pointcloud& cloud, point3d sensor_origin); 00058 00059 inline std::string getId() { return id; } 00060 inline void setId(std::string newid) { id = newid; } 00061 00062 inline pose6d getOrigin() { return origin; } 00063 00064 // returns cloud of voxel centers in global reference frame 00065 Pointcloud generatePointcloud(); 00066 bool writeMap(std::string filename); 00067 00068 protected: 00069 TREETYPE* node_map; // occupancy grid map 00070 pose6d origin; // origin and orientation relative to parent 00071 std::string id; 00072 00073 void clear(); 00074 bool readMap(std::string filename); 00075 00076 }; 00077 00078 } // end namespace 00079 00080 #include "octomap/MapNode.hxx" 00081 00082 #endif