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_OCTREE_H 00035 #define OCTOMAP_OCTREE_H 00036 00037 00038 #include "OccupancyOcTreeBase.h" 00039 #include "OcTreeNode.h" 00040 #include "ScanGraph.h" 00041 00042 namespace octomap { 00043 00049 class OcTree : public OccupancyOcTreeBase <OcTreeNode> { 00050 00051 public: 00053 OcTree(double resolution) : OccupancyOcTreeBase<OcTreeNode>(resolution) {}; 00054 00060 OcTree(std::string _filename); 00061 00062 virtual ~OcTree(){}; 00063 00066 OcTree* create() const {return new OcTree(resolution); } 00067 00068 std::string getTreeType() const {return "OcTree";} 00069 00070 00071 protected: 00076 class StaticMemberInitializer{ 00077 public: 00078 StaticMemberInitializer() { 00079 OcTree* tree = new OcTree(0.1); 00080 AbstractOcTree::registerTreeType(tree); 00081 } 00082 }; 00084 static StaticMemberInitializer ocTreeMemberInit; 00085 }; 00086 00087 } // end namespace 00088 00089 #endif