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 #include <bitset> 00035 #include <cassert> 00036 #include <math.h> 00037 #include <fstream> 00038 #include <stdlib.h> 00039 00040 #include <octomap/OcTreeNode.h> 00041 00042 namespace octomap { 00043 00044 OcTreeNode::OcTreeNode() 00045 : OcTreeDataNode<float>(0.0) 00046 { 00047 } 00048 00049 OcTreeNode::~OcTreeNode(){ 00050 } 00051 00052 // TODO: Use Curiously Recurring Template Pattern instead of copying full function 00053 // (same for getChild) 00054 bool OcTreeNode::createChild(unsigned int i) { 00055 if (children == NULL) { 00056 allocChildren(); 00057 } 00058 assert (children[i] == NULL); 00059 children[i] = new OcTreeNode(); 00060 return true; 00061 } 00062 00063 // ============================================================ 00064 // = occupancy probability ================================== 00065 // ============================================================ 00066 00067 double OcTreeNode::getMeanChildLogOdds() const{ 00068 double mean = 0; 00069 char c = 0; 00070 for (unsigned int i=0; i<8; i++) { 00071 if (childExists(i)) { 00072 mean += getChild(i)->getOccupancy(); 00073 c++; 00074 } 00075 } 00076 if (c) 00077 mean /= (double) c; 00078 00079 return log(mean/(1-mean)); 00080 } 00081 00082 float OcTreeNode::getMaxChildLogOdds() const{ 00083 float max = -std::numeric_limits<float>::max(); 00084 for (unsigned int i=0; i<8; i++) { 00085 if (childExists(i)) { 00086 float l = getChild(i)->getLogOdds(); 00087 if (l > max) 00088 max = l; 00089 } 00090 } 00091 return max; 00092 } 00093 00094 void OcTreeNode::addValue(const float& logOdds) { 00095 value += logOdds; 00096 } 00097 00098 } // end namespace 00099 00100