Classes | |
class | AbstractOccupancyOcTree |
class | AbstractOcTree |
class | AbstractOcTreeNode |
class | ColorOcTree |
class | ColorOcTreeNode |
class | CountingOcTree |
class | CountingOcTreeNode |
struct | equal_keys |
comparator for keys More... | |
struct | hash_key |
class | KeyRay |
class | MapCollection |
class | MapNode |
class | OccupancyOcTreeBase |
class | OcTree |
class | OcTreeBase |
class | OcTreeBaseImpl |
class | OcTreeBaseSE |
class | OcTreeDataNode |
class | OcTreeKey |
class | OcTreeLUT |
class | OcTreeNode |
class | OcTreeNodeStamped |
class | OcTreeStamped |
class | Pointcloud |
class | ScanEdge |
class | ScanGraph |
class | ScanNode |
Typedefs | |
typedef unordered_ns::unordered_map < OcTreeKey, bool, OcTreeKey::KeyHash > | KeyBoolMap |
typedef unordered_ns::unordered_set < OcTreeKey, OcTreeKey::KeyHash > | KeySet |
typedef std::pair< point3d, double > | OcTreeVolume |
A voxel defined by its center point3d and its side length. | |
typedef octomath::Vector3 | point3d |
Use Vector3 (float precision) as a point3d in octomap. | |
typedef std::vector < octomath::Vector3 > | point3d_collection |
typedef std::list < octomath::Vector3 > | point3d_list |
typedef octomath::Pose6D | pose6d |
Use our Pose6D (float precision) as pose6d in octomap. | |
Functions | |
unsigned char | computeChildIdx (const OcTreeKey &key, int depth) |
generate child index (between 0 and 7) from key at given tree depth | |
void | computeChildKey (const unsigned int &pos, const unsigned short int ¢er_offset_key, const OcTreeKey &parent_key, OcTreeKey &child_key) |
OcTreeKey | computeIndexKey (unsigned short int level, const OcTreeKey &key) |
float | logodds (double probability) |
compute log-odds from probability: | |
std::ostream & | operator<< (std::ostream &out, ColorOcTreeNode::Color const &c) |
user friendly output in format (r g b) | |
double | probability (double logodds) |
compute probability from logodds: | |
Variables | |
static const int | edgeTable [256] |
static const int | triTable [256][16] |
static const point3d | vertexList [12] |
Namespace the OctoMap library and visualization tools
Tables used by the Marching Cubes Algorithm The tables are from Paul Bourke's web page http://paulbourke.net/geometry/polygonise/ Used with permission here under BSD license.
typedef unordered_ns::unordered_map<OcTreeKey, bool, OcTreeKey::KeyHash> octomap::KeyBoolMap |
Data structrure to efficiently track changed nodes as a combination of OcTreeKeys and a bool flag (to denote newly created nodes)
Definition at line 119 of file OcTreeKey.h.
typedef unordered_ns::unordered_set<OcTreeKey, OcTreeKey::KeyHash> octomap::KeySet |
Data structure to efficiently compute the nodes to update from a scan insertion using a hash set.
Definition at line 112 of file OcTreeKey.h.
typedef std::pair<point3d, double> octomap::OcTreeVolume |
A voxel defined by its center point3d and its side length.
Definition at line 56 of file octomap_types.h.
typedef octomath::Vector3 octomap::point3d |
Use Vector3 (float precision) as a point3d in octomap.
Definition at line 48 of file octomap_types.h.
typedef std::vector<octomath::Vector3> octomap::point3d_collection |
Definition at line 52 of file octomap_types.h.
typedef std::list<octomath::Vector3> octomap::point3d_list |
Definition at line 53 of file octomap_types.h.
typedef octomath::Pose6D octomap::pose6d |
Use our Pose6D (float precision) as pose6d in octomap.
Definition at line 50 of file octomap_types.h.
unsigned char octomap::computeChildIdx | ( | const OcTreeKey & | key, |
int | depth | ||
) | [inline] |
generate child index (between 0 and 7) from key at given tree depth
Definition at line 182 of file OcTreeKey.h.
void octomap::computeChildKey | ( | const unsigned int & | pos, |
const unsigned short int & | center_offset_key, | ||
const OcTreeKey & | parent_key, | ||
OcTreeKey & | child_key | ||
) | [inline] |
Computes the key of a child node while traversing the octree, given child index and current key
[in] | pos | index of child node (0..7) |
[in] | center_offset_key | constant offset of octree keys |
[in] | parent_key | current (parent) key |
[out] | child_key | computed child key |
Definition at line 168 of file OcTreeKey.h.
OcTreeKey octomap::computeIndexKey | ( | unsigned short int | level, |
const OcTreeKey & | key | ||
) | [inline] |
Generates a unique key for all keys on a certain level of the tree
level | from the bottom (= tree_depth - depth of key) |
key | input indexing key (at lowest resolution / level) |
Definition at line 197 of file OcTreeKey.h.
float octomap::logodds | ( | double | probability | ) | [inline] |
compute log-odds from probability:
Definition at line 42 of file octomap_utils.h.
std::ostream & octomap::operator<< | ( | std::ostream & | out, |
ColorOcTreeNode::Color const & | c | ||
) |
user friendly output in format (r g b)
Definition at line 252 of file ColorOcTree.cpp.
double octomap::probability | ( | double | logodds | ) | [inline] |
compute probability from logodds:
Definition at line 47 of file octomap_utils.h.
const int octomap::edgeTable[256] [static] |
Definition at line 44 of file MCTables.h.
const int octomap::triTable[256][16] [static] |
Definition at line 78 of file MCTables.h.
const point3d octomap::vertexList[12] [static] |