OcTreeNode.cpp
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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 #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 


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