Public Member Functions | Static Public Member Functions | Static Protected Member Functions | Static Protected Attributes | Static Private Member Functions | Friends
octomap::AbstractOcTree Class Reference

#include <AbstractOcTree.h>

Inheritance diagram for octomap::AbstractOcTree:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 AbstractOcTree ()
virtual void clear ()=0
virtual AbstractOcTree * create () const =0
 virtual constructor: creates a new object of same type
virtual void expand ()=0
virtual void getMetricMax (double &x, double &y, double &z)=0
virtual void getMetricMax (double &x, double &y, double &z) const =0
virtual void getMetricMin (double &x, double &y, double &z)=0
virtual void getMetricMin (double &x, double &y, double &z) const =0
virtual void getMetricSize (double &x, double &y, double &z)=0
virtual double getResolution () const =0
virtual std::string getTreeType () const =0
 returns actual class name as string for identification
virtual size_t memoryUsage () const =0
virtual size_t memoryUsageNode () const =0
virtual void prune ()=0
virtual std::istream & readData (std::istream &s)=0
virtual void setResolution (double res)=0
virtual size_t size () const =0
bool write (const std::string &filename) const
 Write file header and complete tree to file (serialization)
bool write (std::ostream &s) const
 Write file header and complete tree to stream (serialization)
virtual std::ostream & writeData (std::ostream &s) const =0
virtual ~AbstractOcTree ()

Static Public Member Functions

static AbstractOcTree * createTree (const std::string id, double res)
static AbstractOcTree * read (const std::string &filename)
static AbstractOcTree * read (std::istream &s)

Static Protected Member Functions

static bool readHeader (std::istream &s, std::string &id, unsigned &size, double &res)
static void registerTreeType (AbstractOcTree *tree)

Static Protected Attributes

static const std::string fileHeader = "# Octomap OcTree file"

Static Private Member Functions

static std::map< std::string,
AbstractOcTree * > & 		classIDMapping ()
 create private store, Construct on first use

Friends

class StaticMapInit

Detailed Description

This abstract class is an interface to all octrees and provides a factory design pattern for readin and writing all kinds of OcTrees to files (see read()).

Definition at line 50 of file AbstractOcTree.h.

Constructor & Destructor Documentation

octomap::AbstractOcTree::AbstractOcTree ( )

Definition at line 41 of file AbstractOcTree.cpp.

virtual octomap::AbstractOcTree::~AbstractOcTree ( ) [inline, virtual]

Definition at line 54 of file AbstractOcTree.h.

Member Function Documentation

std::map< std::string, AbstractOcTree * > & octomap::AbstractOcTree::classIDMapping ( ) [static, private]

create private store, Construct on first use

Definition at line 197 of file AbstractOcTree.cpp.

virtual void octomap::AbstractOcTree::clear ( ) [pure virtual]

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

virtual AbstractOcTree* octomap::AbstractOcTree::create ( ) const [pure virtual]

virtual constructor: creates a new object of same type

Implemented in octomap::OcTreeBase< NODE >.

AbstractOcTree * octomap::AbstractOcTree::createTree ( const std::string  id,
double  res 
) [static]

Creates a certain OcTree (factory pattern)

Parameters:
idunique ID of OcTree
resresolution of OcTree
Returns:
pointer to newly created OcTree (empty). NULL if the ID is unknown!

Definition at line 184 of file AbstractOcTree.cpp.

virtual void octomap::AbstractOcTree::expand ( ) [pure virtual]

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

virtual void octomap::AbstractOcTree::getMetricMax ( double &  x,
double &  y,
double &  z 
) [pure virtual]

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

virtual void octomap::AbstractOcTree::getMetricMax ( double &  x,
double &  y,
double &  z 
) const [pure virtual]

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

virtual void octomap::AbstractOcTree::getMetricMin ( double &  x,
double &  y,
double &  z 
) [pure virtual]

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

virtual void octomap::AbstractOcTree::getMetricMin ( double &  x,
double &  y,
double &  z 
) const [pure virtual]

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

virtual void octomap::AbstractOcTree::getMetricSize ( double &  x,
double &  y,
double &  z 
) [pure virtual]

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

virtual double octomap::AbstractOcTree::getResolution ( ) const [pure virtual]

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

virtual std::string octomap::AbstractOcTree::getTreeType ( ) const [pure virtual]

returns actual class name as string for identification

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >, and octomap::OcTreeBase< NODE >.

virtual size_t octomap::AbstractOcTree::memoryUsage ( ) const [pure virtual]

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

virtual size_t octomap::AbstractOcTree::memoryUsageNode ( ) const [pure virtual]

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

virtual void octomap::AbstractOcTree::prune ( ) [pure virtual]

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

AbstractOcTree * octomap::AbstractOcTree::read ( const std::string &  filename) [static]

Read the file header, create the appropriate class and deserialize. This creates a new octree which you need to delete yourself. If you expect or requre a specific kind of octree, use dynamic_cast afterwards: 

 AbstractOcTree* tree = AbstractOcTree::read("filename.ot");
 OcTree* octree = dynamic_cast<OcTree*>(tree);

Definition at line 74 of file AbstractOcTree.cpp.

AbstractOcTree * octomap::AbstractOcTree::read ( std::istream &  s) [static]

Read the file header, create the appropriate class and deserialize. This creates a new octree which you need to delete yourself.

Definition at line 87 of file AbstractOcTree.cpp.

virtual std::istream& octomap::AbstractOcTree::readData ( std::istream &  s) [pure virtual]

Read all nodes from the input stream (without file header), for this the tree needs to be already created. For general file IO, you should probably use AbstractOcTree::read() instead.

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

bool octomap::AbstractOcTree::readHeader ( std::istream &  s,
std::string &  id,
unsigned &  size,
double &  res 
) [static, protected]

Definition at line 119 of file AbstractOcTree.cpp.

void octomap::AbstractOcTree::registerTreeType ( AbstractOcTree *  tree) [static, protected]

Definition at line 205 of file AbstractOcTree.cpp.

virtual void octomap::AbstractOcTree::setResolution ( double  res) [pure virtual]

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

virtual size_t octomap::AbstractOcTree::size ( ) const [pure virtual]

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

bool octomap::AbstractOcTree::write ( const std::string &  filename) const

Write file header and complete tree to file (serialization)

Definition at line 45 of file AbstractOcTree.cpp.

bool octomap::AbstractOcTree::write ( std::ostream &  s) const

Write file header and complete tree to stream (serialization)

Definition at line 61 of file AbstractOcTree.cpp.

virtual std::ostream& octomap::AbstractOcTree::writeData ( std::ostream &  s) const [pure virtual]

Write complete state of tree to stream (without file header) unmodified. Pruning the tree first produces smaller files (lossless compression)

Implemented in octomap::OcTreeBaseImpl< NODE, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNodeStamped, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< OcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< ColorOcTreeNode, AbstractOccupancyOcTree >, octomap::OcTreeBaseImpl< NODE, AbstractOcTree >, and octomap::OcTreeBaseImpl< CountingOcTreeNode, AbstractOcTree >.

Friends And Related Function Documentation

friend class StaticMapInit [friend]

Definition at line 51 of file AbstractOcTree.h.

Member Data Documentation

const std::string octomap::AbstractOcTree::fileHeader = "# Octomap OcTree file" [static, protected]

Definition at line 155 of file AbstractOcTree.h.

The documentation for this class was generated from the following files:

octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Thu Jun 6 2019 17:31:45