OccupancyOcTreeBase.h
Go to the documentation of this file.
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_OCCUPANCY_OCTREE_BASE_H
00035 #define OCTOMAP_OCCUPANCY_OCTREE_BASE_H
00036 
00037 
00038 #include <list>
00039 #include <stdlib.h>
00040 #include <vector>
00041 
00042 #include "octomap_types.h"
00043 #include "octomap_utils.h"
00044 #include "OcTreeBaseImpl.h"
00045 #include "AbstractOccupancyOcTree.h"
00046 
00047 
00048 namespace octomap {
00049 
00068   template <class NODE>
00069   class OccupancyOcTreeBase : public OcTreeBaseImpl<NODE,AbstractOccupancyOcTree> {
00070 
00071   public:
00073     OccupancyOcTreeBase(double resolution);
00074     virtual ~OccupancyOcTreeBase();
00075 
00077     OccupancyOcTreeBase(const OccupancyOcTreeBase<NODE>& rhs);
00078 
00096     virtual void insertPointCloud(const Pointcloud& scan, const octomap::point3d& sensor_origin,
00097                    double maxrange=-1., bool lazy_eval = false, bool discretize = false);
00098 
00117     virtual void insertPointCloud(const Pointcloud& scan, const point3d& sensor_origin, const pose6d& frame_origin,
00118                    double maxrange=-1., bool lazy_eval = false, bool discretize = false);
00119 
00132     virtual void insertPointCloud(const ScanNode& scan, double maxrange=-1., bool lazy_eval = false, bool discretize = false);
00133 
00135     OCTOMAP_DEPRECATED(virtual void insertScan(const Pointcloud& scan, const octomap::point3d& sensor_origin,
00136                    double maxrange=-1., bool pruning=true, bool lazy_eval = false))
00137     {
00138       this->insertPointCloud(scan, sensor_origin, maxrange, lazy_eval);
00139     }
00140 
00142     OCTOMAP_DEPRECATED(virtual void insertScan(const Pointcloud& scan, const point3d& sensor_origin,
00143                     const pose6d& frame_origin, double maxrange=-1., bool pruning = true, bool lazy_eval = false))
00144     {
00145       this->insertPointCloud(scan, sensor_origin, frame_origin, maxrange, lazy_eval);
00146     }
00147 
00149      OCTOMAP_DEPRECATED(virtual void insertScan(const ScanNode& scan, double maxrange=-1., bool pruning = true, bool lazy_eval = false)){
00150        this->insertPointCloud(scan, maxrange, lazy_eval);
00151      }
00152 
00154      OCTOMAP_DEPRECATED( virtual void insertScanNaive(const Pointcloud& scan, const point3d& sensor_origin, double maxrange, bool lazy_eval = false)){
00155        this->insertPointCloudRays(scan, sensor_origin, maxrange, lazy_eval);
00156      }
00157 
00170      virtual void insertPointCloudRays(const Pointcloud& scan, const point3d& sensor_origin, double maxrange = -1., bool lazy_eval = false);
00171 
00182      virtual NODE* setNodeValue(const OcTreeKey& key, float log_odds_value, bool lazy_eval = false);
00183 
00194      virtual NODE* setNodeValue(const point3d& value, float log_odds_value, bool lazy_eval = false);
00195 
00208      virtual NODE* setNodeValue(double x, double y, double z, float log_odds_value, bool lazy_eval = false);
00209 
00220      virtual NODE* updateNode(const OcTreeKey& key, float log_odds_update, bool lazy_eval = false);
00221 
00232      virtual NODE* updateNode(const point3d& value, float log_odds_update, bool lazy_eval = false);
00233 
00246      virtual NODE* updateNode(double x, double y, double z, float log_odds_update, bool lazy_eval = false);
00247 
00257     virtual NODE* updateNode(const OcTreeKey& key, bool occupied, bool lazy_eval = false);
00258 
00269     virtual NODE* updateNode(const point3d& value, bool occupied, bool lazy_eval = false);
00270 
00283     virtual NODE* updateNode(double x, double y, double z, bool occupied, bool lazy_eval = false);
00284 
00285 
00291     virtual void toMaxLikelihood();
00292 
00306     virtual bool insertRay(const point3d& origin, const point3d& end, double maxrange=-1.0, bool lazy_eval = false);
00307     
00323     virtual bool castRay(const point3d& origin, const point3d& direction, point3d& end,
00324                  bool ignoreUnknownCells=false, double maxRange=-1.0) const;
00325 
00337     virtual bool getRayIntersection(const point3d& origin, const point3d& direction, const point3d& center,
00338                  point3d& intersection, double delta=0.0) const;
00339 
00350                 bool getNormals(const point3d& point, std::vector<point3d>& normals, bool unknownStatus=true) const;
00351         
00352     //-- set BBX limit (limits tree updates to this bounding box)
00353 
00355     void useBBXLimit(bool enable) { use_bbx_limit = enable; }
00356     bool bbxSet() const { return use_bbx_limit; }
00358     void setBBXMin (point3d& min);
00360     void setBBXMax (point3d& max);
00362     point3d getBBXMin () const { return bbx_min; }
00364     point3d getBBXMax () const { return bbx_max; }
00365     point3d getBBXBounds () const;
00366     point3d getBBXCenter () const;
00368     bool inBBX(const point3d& p) const;
00370     bool inBBX(const OcTreeKey& key) const;
00371 
00372     //-- change detection on occupancy:
00374     void enableChangeDetection(bool enable) { use_change_detection = enable; }
00376     void resetChangeDetection() { changed_keys.clear(); }
00377 
00383     KeyBoolMap::const_iterator changedKeysBegin() {return changed_keys.begin();}
00384 
00386     KeyBoolMap::const_iterator changedKeysEnd() {return changed_keys.end();}
00387 
00388 
00400     void computeUpdate(const Pointcloud& scan, const octomap::point3d& origin,
00401                        KeySet& free_cells,
00402                        KeySet& occupied_cells,
00403                        double maxrange);
00404 
00405 
00418     void computeDiscreteUpdate(const Pointcloud& scan, const octomap::point3d& origin,
00419                        KeySet& free_cells,
00420                        KeySet& occupied_cells,
00421                        double maxrange);
00422 
00423 
00424     // -- I/O  -----------------------------------------
00425 
00431     std::istream& readBinaryData(std::istream &s);
00432 
00440     std::istream& readBinaryNode(std::istream &s, NODE* node) const;
00441 
00453     std::ostream& writeBinaryNode(std::ostream &s, const NODE* node) const;
00454 
00459     std::ostream& writeBinaryData(std::ostream &s) const;
00460 
00461 
00467     void updateInnerOccupancy();
00468 
00469 
00471     virtual void integrateHit(NODE* occupancyNode) const;
00473     virtual void integrateMiss(NODE* occupancyNode) const;
00475     virtual void updateNodeLogOdds(NODE* occupancyNode, const float& update) const;
00476 
00478     virtual void nodeToMaxLikelihood(NODE* occupancyNode) const;
00480     virtual void nodeToMaxLikelihood(NODE& occupancyNode) const;
00481 
00482   protected:
00485     OccupancyOcTreeBase(double resolution, unsigned int tree_depth, unsigned int tree_max_val);
00486 
00491     inline bool integrateMissOnRay(const point3d& origin, const point3d& end, bool lazy_eval = false);
00492 
00493 
00494     // recursive calls ----------------------------
00495 
00496     NODE* updateNodeRecurs(NODE* node, bool node_just_created, const OcTreeKey& key,
00497                            unsigned int depth, const float& log_odds_update, bool lazy_eval = false);
00498     
00499     NODE* setNodeValueRecurs(NODE* node, bool node_just_created, const OcTreeKey& key,
00500                            unsigned int depth, const float& log_odds_value, bool lazy_eval = false);
00501 
00502     void updateInnerOccupancyRecurs(NODE* node, unsigned int depth);
00503     
00504     void toMaxLikelihoodRecurs(NODE* node, unsigned int depth, unsigned int max_depth);
00505 
00506 
00507   protected:
00508     bool use_bbx_limit;  
00509     point3d bbx_min;
00510     point3d bbx_max;
00511     OcTreeKey bbx_min_key;
00512     OcTreeKey bbx_max_key;
00513 
00514     bool use_change_detection;
00516     KeyBoolMap changed_keys;
00517     
00518 
00519   };
00520 
00521 } // namespace
00522 
00523 #include "octomap/OccupancyOcTreeBase.hxx"
00524 
00525 #endif


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