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 "octomap/OcTreeStamped.h" 00035 00036 namespace octomap { 00037 00038 unsigned int OcTreeStamped::getLastUpdateTime() { 00039 // this value is updated whenever inner nodes are 00040 // updated using updateOccupancyChildren() 00041 return root->getTimestamp(); 00042 } 00043 00044 void OcTreeStamped::degradeOutdatedNodes(unsigned int time_thres) { 00045 unsigned int query_time = (unsigned int) time(NULL); 00046 00047 for(leaf_iterator it = this->begin_leafs(), end=this->end_leafs(); 00048 it!= end; ++it) { 00049 if ( this->isNodeOccupied(*it) 00050 && ((query_time - it->getTimestamp()) > time_thres) ) { 00051 integrateMissNoTime(&*it); 00052 } 00053 } 00054 } 00055 00056 void OcTreeStamped::updateNodeLogOdds(OcTreeNodeStamped* node, const float& update) const { 00057 OccupancyOcTreeBase<OcTreeNodeStamped>::updateNodeLogOdds(node, update); 00058 node->updateTimestamp(); 00059 } 00060 00061 void OcTreeStamped::integrateMissNoTime(OcTreeNodeStamped* node) const{ 00062 OccupancyOcTreeBase<OcTreeNodeStamped>::updateNodeLogOdds(node, prob_miss_log); 00063 } 00064 00065 OcTreeStamped::StaticMemberInitializer OcTreeStamped::ocTreeStampedMemberInit; 00066 00067 } // end namespace 00068