MapNode.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
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00028  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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00030  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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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


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