Public Types | Public Member Functions | Protected Member Functions | Protected Attributes | Private Member Functions
octomap::OcTreeBaseImpl< NODE, INTERFACE > Class Template Reference

#include <OcTreeBaseImpl.h>

Inheritance diagram for octomap::OcTreeBaseImpl< NODE, INTERFACE >:
Inheritance graph
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List of all members.

Public Types

typedef leaf_iterator iterator
typedef NODE NodeType
 Make the templated NODE type available from the outside.

Public Member Functions

OcTreeKey adjustKeyAtDepth (const OcTreeKey &key, unsigned int depth) const
unsigned short int adjustKeyAtDepth (unsigned short int key, unsigned int depth) const
iterator begin (unsigned char maxDepth=0) const
leaf_iterator begin_leafs (unsigned char maxDepth=0) const
leaf_bbx_iterator begin_leafs_bbx (const OcTreeKey &min, const OcTreeKey &max, unsigned char maxDepth=0) const
leaf_bbx_iterator begin_leafs_bbx (const point3d &min, const point3d &max, unsigned char maxDepth=0) const
tree_iterator begin_tree (unsigned char maxDepth=0) const
size_t calcNumNodes () const
 Traverses the tree to calculate the total number of nodes.
void clear ()
 Deletes the complete tree structure.
bool computeRay (const point3d &origin, const point3d &end, std::vector< point3d > &ray)
bool computeRayKeys (const point3d &origin, const point3d &end, KeyRay &ray) const
unsigned short int coordToKey (double coordinate) const
 Converts from a single coordinate into a discrete key.
unsigned short int coordToKey (double coordinate, unsigned depth) const
 Converts from a single coordinate into a discrete key at a given depth.
OcTreeKey coordToKey (const point3d &coord) const
 Converts from a 3D coordinate into a 3D addressing key.
OcTreeKey coordToKey (double x, double y, double z) const
 Converts from a 3D coordinate into a 3D addressing key.
OcTreeKey coordToKey (const point3d &coord, unsigned depth) const
 Converts from a 3D coordinate into a 3D addressing key at a given depth.
OcTreeKey coordToKey (double x, double y, double z, unsigned depth) const
 Converts from a 3D coordinate into a 3D addressing key at a given depth.
bool coordToKeyChecked (const point3d &coord, OcTreeKey &key) const
bool coordToKeyChecked (const point3d &coord, unsigned depth, OcTreeKey &key) const
bool coordToKeyChecked (double x, double y, double z, OcTreeKey &key) const
bool coordToKeyChecked (double x, double y, double z, unsigned depth, OcTreeKey &key) const
bool coordToKeyChecked (double coordinate, unsigned short int &key) const
bool coordToKeyChecked (double coordinate, unsigned depth, unsigned short int &key) const
bool deleteNode (double x, double y, double z, unsigned int depth=0)
bool deleteNode (const point3d &value, unsigned int depth=0)
bool deleteNode (const OcTreeKey &key, unsigned int depth=0)
const iterator end () const
const leaf_iterator end_leafs () const
const leaf_bbx_iterator end_leafs_bbx () const
const tree_iterator end_tree () const
virtual void expand ()
virtual void getMetricMax (double &x, double &y, double &z)
 maximum value of the bounding box of all known space in x, y, z
void getMetricMax (double &x, double &y, double &z) const
 maximum value of the bounding box of all known space in x, y, z
virtual void getMetricMin (double &x, double &y, double &z)
 minimum value of the bounding box of all known space in x, y, z
void getMetricMin (double &x, double &y, double &z) const
 minimum value of the bounding box of all known space in x, y, z
virtual void getMetricSize (double &x, double &y, double &z)
 Size of OcTree (all known space) in meters for x, y and z dimension.
virtual void getMetricSize (double &x, double &y, double &z) const
 Size of OcTree (all known space) in meters for x, y and z dimension.
double getNodeSize (unsigned depth) const
size_t getNumLeafNodes () const
 Traverses the tree to calculate the total number of leaf nodes.
double getResolution () const
NODE * getRoot () const
unsigned int getTreeDepth () const
std::string getTreeType () const
void getUnknownLeafCenters (point3d_list &node_centers, point3d pmin, point3d pmax) const
 return centers of leafs that do NOT exist (but could) in a given bounding box
double keyToCoord (unsigned short int key, unsigned depth) const
double keyToCoord (unsigned short int key) const
point3d keyToCoord (const OcTreeKey &key) const
point3d keyToCoord (const OcTreeKey &key, unsigned depth) const
unsigned long long memoryFullGrid () const
virtual size_t memoryUsage () const
virtual size_t memoryUsageNode () const
 OcTreeBaseImpl (double resolution)
 OcTreeBaseImpl (const OcTreeBaseImpl< NODE, INTERFACE > &rhs)
 Deep copy constructor.
bool operator== (const OcTreeBaseImpl< NODE, INTERFACE > &rhs) const
virtual void prune ()
std::istream & readData (std::istream &s)
NODE * search (double x, double y, double z, unsigned int depth=0) const
NODE * search (const point3d &value, unsigned int depth=0) const
NODE * search (const OcTreeKey &key, unsigned int depth=0) const
void setResolution (double r)
virtual size_t size () const
void swapContent (OcTreeBaseImpl< NODE, INTERFACE > &rhs)
double volume ()
std::ostream & writeData (std::ostream &s) const
virtual ~OcTreeBaseImpl ()

Protected Member Functions

void calcMinMax ()
 recalculates min and max in x, y, z. Does nothing when tree size didn't change.
void calcNumNodesRecurs (NODE *node, size_t &num_nodes) const
bool deleteNodeRecurs (NODE *node, unsigned int depth, unsigned int max_depth, const OcTreeKey &key)
 recursive call of deleteNode()
void expandRecurs (NODE *node, unsigned int depth, unsigned int max_depth)
 recursive call of expand()
size_t getNumLeafNodesRecurs (const NODE *parent) const
void init ()
 initialize non-trivial members, helper for constructors
 OcTreeBaseImpl (double resolution, unsigned int tree_depth, unsigned int tree_max_val)
void pruneRecurs (NODE *node, unsigned int depth, unsigned int max_depth, unsigned int &num_pruned)
 recursive call of prune()

Protected Attributes

std::vector< KeyRay > keyrays
 data structure for ray casting, array for multithreading
const leaf_bbx_iterator leaf_iterator_bbx_end
const leaf_iterator leaf_iterator_end
double max_value [3]
 max in x, y, z
double min_value [3]
double resolution
 in meters
double resolution_factor
 = 1. / resolution
NODE * root
 Pointer to the root NODE, NULL for empty tree.
bool size_changed
 flag to denote whether the octree extent changed (for lazy min/max eval)
std::vector< double > sizeLookupTable
 contains the size of a voxel at level i (0: root node). tree_depth+1 levels (incl. 0)
point3d tree_center
const unsigned int tree_depth
 Maximum tree depth is fixed to 16 currently.
const tree_iterator tree_iterator_end
const unsigned int tree_max_val
size_t tree_size

Private Member Functions

OcTreeBaseImpl< NODE, INTERFACE > & operator= (const OcTreeBaseImpl< NODE, INTERFACE > &)

Detailed Description

template<class NODE, class INTERFACE>
class octomap::OcTreeBaseImpl< NODE, INTERFACE >

OcTree base class, to be used with with any kind of OcTreeDataNode.

This tree implementation currently has a maximum depth of 16 nodes. For this reason, coordinates values have to be, e.g., below +/- 327.68 meters (2^15) at a maximum resolution of 0.01m.

This limitation enables the use of an efficient key generation method which uses the binary representation of the data point coordinates.

Note:
You should probably not use this class directly, but OcTreeBase or OccupancyOcTreeBase instead
Template Parameters:
NODENode class to be used in tree (usually derived from OcTreeDataNode)
INTERFACEInterface to be derived from, should be either AbstractOcTree or AbstractOccupancyOcTree

Definition at line 72 of file OcTreeBaseImpl.h.

Member Typedef Documentation

template<class NODE, class INTERFACE>
typedef leaf_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::iterator

Definition at line 264 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
typedef NODE octomap::OcTreeBaseImpl< NODE, INTERFACE >::NodeType

Make the templated NODE type available from the outside.

Definition at line 76 of file OcTreeBaseImpl.h.

Constructor & Destructor Documentation

template<class NODE, class INTERFACE>
octomap::OcTreeBaseImpl< NODE, INTERFACE >::OcTreeBaseImpl ( double  resolution)
template<class NODE, class INTERFACE>
virtual octomap::OcTreeBaseImpl< NODE, INTERFACE >::~OcTreeBaseImpl ( ) [virtual]
template<class NODE, class INTERFACE>
octomap::OcTreeBaseImpl< NODE, INTERFACE >::OcTreeBaseImpl ( const OcTreeBaseImpl< NODE, INTERFACE > &  rhs)

Deep copy constructor.

template<class NODE, class INTERFACE>
octomap::OcTreeBaseImpl< NODE, INTERFACE >::OcTreeBaseImpl ( double  resolution,
unsigned int  tree_depth,
unsigned int  tree_max_val 
) [protected]

Constructor to enable derived classes to change tree constants. This usually requires a re-implementation of some core tree-traversal functions as well!

Member Function Documentation

template<class NODE, class INTERFACE>
OcTreeKey octomap::OcTreeBaseImpl< NODE, INTERFACE >::adjustKeyAtDepth ( const OcTreeKey &  key,
unsigned int  depth 
) const [inline]

Adjusts a 3D key from the lowest level to correspond to a higher depth (by shifting the key values)

Parameters:
keyInput key, at the lowest tree level
depthTarget depth level for the new key
Returns:
Key for the new depth level

Definition at line 340 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
unsigned short int octomap::OcTreeBaseImpl< NODE, INTERFACE >::adjustKeyAtDepth ( unsigned short int  key,
unsigned int  depth 
) const

Adjusts a single key value from the lowest level to correspond to a higher depth (by shifting the key value)

Parameters:
keyInput key, at the lowest tree level
depthTarget depth level for the new key
Returns:
Key for the new depth level
template<class NODE, class INTERFACE>
iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::begin ( unsigned char  maxDepth = 0) const [inline]
Returns:
beginning of the tree as leaf iterator

Definition at line 268 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
leaf_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::begin_leafs ( unsigned char  maxDepth = 0) const [inline]
Returns:
beginning of the tree as leaf iterator

Definition at line 273 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
leaf_bbx_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::begin_leafs_bbx ( const OcTreeKey &  min,
const OcTreeKey &  max,
unsigned char  maxDepth = 0 
) const [inline]
Returns:
beginning of the tree as leaf iterator in a bounding box

Definition at line 278 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
leaf_bbx_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::begin_leafs_bbx ( const point3d &  min,
const point3d &  max,
unsigned char  maxDepth = 0 
) const [inline]
Returns:
beginning of the tree as leaf iterator in a bounding box

Definition at line 282 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
tree_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::begin_tree ( unsigned char  maxDepth = 0) const [inline]
Returns:
beginning of the tree as iterator to all nodes (incl. inner)

Definition at line 289 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
void octomap::OcTreeBaseImpl< NODE, INTERFACE >::calcMinMax ( ) [protected]

recalculates min and max in x, y, z. Does nothing when tree size didn't change.

template<class NODE, class INTERFACE>
size_t octomap::OcTreeBaseImpl< NODE, INTERFACE >::calcNumNodes ( ) const

Traverses the tree to calculate the total number of nodes.

template<class NODE, class INTERFACE>
void octomap::OcTreeBaseImpl< NODE, INTERFACE >::calcNumNodesRecurs ( NODE *  node,
size_t &  num_nodes 
) const [protected]
template<class NODE, class INTERFACE>
void octomap::OcTreeBaseImpl< NODE, INTERFACE >::clear ( )

Deletes the complete tree structure.

template<class NODE, class INTERFACE>
bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::computeRay ( const point3d &  origin,
const point3d &  end,
std::vector< point3d > &  ray 
)

Traces a ray from origin to end (excluding), returning the coordinates of all nodes traversed by the beam. You still need to check if a node at that coordinate exists (e.g. with search()).

Note:
: use the faster computeRayKeys method if possible.
Parameters:
originstart coordinate of ray
endend coordinate of ray
rayKeyRay structure that holds the keys of all nodes traversed by the ray, excluding "end"
Returns:
Success of operation. Returning false usually means that one of the coordinates is out of the OcTree's range
template<class NODE, class INTERFACE>
bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::computeRayKeys ( const point3d &  origin,
const point3d &  end,
KeyRay &  ray 
) const

Traces a ray from origin to end (excluding), returning an OcTreeKey of all nodes traversed by the beam. You still need to check if a node at that coordinate exists (e.g. with search()).

Parameters:
originstart coordinate of ray
endend coordinate of ray
rayKeyRay structure that holds the keys of all nodes traversed by the ray, excluding "end"
Returns:
Success of operation. Returning false usually means that one of the coordinates is out of the OcTree's range

Reimplemented in octomap::OcTreeBaseSE< NODE >.

template<class NODE, class INTERFACE>
unsigned short int octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey ( double  coordinate) const [inline]

Converts from a single coordinate into a discrete key.

Definition at line 298 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
unsigned short int octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey ( double  coordinate,
unsigned  depth 
) const

Converts from a single coordinate into a discrete key at a given depth.

template<class NODE, class INTERFACE>
OcTreeKey octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey ( const point3d &  coord) const [inline]

Converts from a 3D coordinate into a 3D addressing key.

Definition at line 307 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
OcTreeKey octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey ( double  x,
double  y,
double  z 
) const [inline]

Converts from a 3D coordinate into a 3D addressing key.

Definition at line 312 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
OcTreeKey octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey ( const point3d &  coord,
unsigned  depth 
) const [inline]

Converts from a 3D coordinate into a 3D addressing key at a given depth.

Definition at line 317 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
OcTreeKey octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKey ( double  x,
double  y,
double  z,
unsigned  depth 
) const [inline]

Converts from a 3D coordinate into a 3D addressing key at a given depth.

Definition at line 325 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKeyChecked ( const point3d &  coord,
OcTreeKey &  key 
) const

Converts a 3D coordinate into a 3D OcTreeKey, with boundary checking.

Parameters:
coord3d coordinate of a point
keyvalues that will be computed, an array of fixed size 3.
Returns:
true if point is within the octree (valid), false otherwise
template<class NODE, class INTERFACE>
bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKeyChecked ( const point3d &  coord,
unsigned  depth,
OcTreeKey &  key 
) const

Converts a 3D coordinate into a 3D OcTreeKey at a certain depth, with boundary checking.

Parameters:
coord3d coordinate of a point
depthlevel of the key from the top
keyvalues that will be computed, an array of fixed size 3.
Returns:
true if point is within the octree (valid), false otherwise
template<class NODE, class INTERFACE>
bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKeyChecked ( double  x,
double  y,
double  z,
OcTreeKey &  key 
) const

Converts a 3D coordinate into a 3D OcTreeKey, with boundary checking.

Parameters:
x
y
z
keyvalues that will be computed, an array of fixed size 3.
Returns:
true if point is within the octree (valid), false otherwise
template<class NODE, class INTERFACE>
bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKeyChecked ( double  x,
double  y,
double  z,
unsigned  depth,
OcTreeKey &  key 
) const

Converts a 3D coordinate into a 3D OcTreeKey at a certain depth, with boundary checking.

Parameters:
x
y
z
depthlevel of the key from the top
keyvalues that will be computed, an array of fixed size 3.
Returns:
true if point is within the octree (valid), false otherwise
template<class NODE, class INTERFACE>
bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKeyChecked ( double  coordinate,
unsigned short int &  key 
) const

Converts a single coordinate into a discrete addressing key, with boundary checking.

Parameters:
coordinate3d coordinate of a point
keydiscrete 16 bit adressing key, result
Returns:
true if coordinate is within the octree bounds (valid), false otherwise
template<class NODE, class INTERFACE>
bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::coordToKeyChecked ( double  coordinate,
unsigned  depth,
unsigned short int &  key 
) const

Converts a single coordinate into a discrete addressing key, with boundary checking.

Parameters:
coordinate3d coordinate of a point
depthlevel of the key from the top
keydiscrete 16 bit adressing key, result
Returns:
true if coordinate is within the octree bounds (valid), false otherwise
template<class NODE, class INTERFACE>
bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::deleteNode ( double  x,
double  y,
double  z,
unsigned int  depth = 0 
)

Delete a node (if exists) given a 3d point. Will always delete at the lowest level unless depth !=0, and expand pruned inner nodes as needed. Pruned nodes at level "depth" will directly be deleted as a whole.

template<class NODE, class INTERFACE>
bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::deleteNode ( const point3d &  value,
unsigned int  depth = 0 
)

Delete a node (if exists) given a 3d point. Will always delete at the lowest level unless depth !=0, and expand pruned inner nodes as needed. Pruned nodes at level "depth" will directly be deleted as a whole.

template<class NODE, class INTERFACE>
bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::deleteNode ( const OcTreeKey &  key,
unsigned int  depth = 0 
)

Delete a node (if exists) given an addressing key. Will always delete at the lowest level unless depth !=0, and expand pruned inner nodes as needed. Pruned nodes at level "depth" will directly be deleted as a whole.

template<class NODE, class INTERFACE>
bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::deleteNodeRecurs ( NODE *  node,
unsigned int  depth,
unsigned int  max_depth,
const OcTreeKey &  key 
) [protected]

recursive call of deleteNode()

template<class NODE, class INTERFACE>
const iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::end ( ) const [inline]
Returns:
end of the tree as leaf iterator

Definition at line 270 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
const leaf_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::end_leafs ( ) const [inline]
Returns:
end of the tree as leaf iterator

Definition at line 275 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
const leaf_bbx_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::end_leafs_bbx ( ) const [inline]
Returns:
end of the tree as leaf iterator in a bounding box

Definition at line 286 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
const tree_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::end_tree ( ) const [inline]
Returns:
end of the tree as iterator to all nodes (incl. inner)

Definition at line 291 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
virtual void octomap::OcTreeBaseImpl< NODE, INTERFACE >::expand ( ) [virtual]

Expands all pruned nodes (reverse of prune())

Note:
This is an expensive operation, especially when the tree is nearly empty!
template<class NODE, class INTERFACE>
void octomap::OcTreeBaseImpl< NODE, INTERFACE >::expandRecurs ( NODE *  node,
unsigned int  depth,
unsigned int  max_depth 
) [protected]

recursive call of expand()

template<class NODE, class INTERFACE>
virtual void octomap::OcTreeBaseImpl< NODE, INTERFACE >::getMetricMax ( double &  x,
double &  y,
double &  z 
) [virtual]

maximum value of the bounding box of all known space in x, y, z

template<class NODE, class INTERFACE>
void octomap::OcTreeBaseImpl< NODE, INTERFACE >::getMetricMax ( double &  x,
double &  y,
double &  z 
) const

maximum value of the bounding box of all known space in x, y, z

template<class NODE, class INTERFACE>
virtual void octomap::OcTreeBaseImpl< NODE, INTERFACE >::getMetricMin ( double &  x,
double &  y,
double &  z 
) [virtual]

minimum value of the bounding box of all known space in x, y, z

template<class NODE, class INTERFACE>
void octomap::OcTreeBaseImpl< NODE, INTERFACE >::getMetricMin ( double &  x,
double &  y,
double &  z 
) const

minimum value of the bounding box of all known space in x, y, z

template<class NODE, class INTERFACE>
virtual void octomap::OcTreeBaseImpl< NODE, INTERFACE >::getMetricSize ( double &  x,
double &  y,
double &  z 
) [virtual]

Size of OcTree (all known space) in meters for x, y and z dimension.

template<class NODE, class INTERFACE>
virtual void octomap::OcTreeBaseImpl< NODE, INTERFACE >::getMetricSize ( double &  x,
double &  y,
double &  z 
) const [virtual]

Size of OcTree (all known space) in meters for x, y and z dimension.

template<class NODE, class INTERFACE>
double octomap::OcTreeBaseImpl< NODE, INTERFACE >::getNodeSize ( unsigned  depth) const [inline]

Definition at line 110 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
size_t octomap::OcTreeBaseImpl< NODE, INTERFACE >::getNumLeafNodes ( ) const

Traverses the tree to calculate the total number of leaf nodes.

template<class NODE, class INTERFACE>
size_t octomap::OcTreeBaseImpl< NODE, INTERFACE >::getNumLeafNodesRecurs ( const NODE *  parent) const [protected]
template<class NODE, class INTERFACE>
double octomap::OcTreeBaseImpl< NODE, INTERFACE >::getResolution ( ) const [inline]

Definition at line 106 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
NODE* octomap::OcTreeBaseImpl< NODE, INTERFACE >::getRoot ( ) const [inline]
Returns:
Pointer to the root node of the tree. This pointer should not be modified or deleted externally, the OcTree manages its memory itself. In an empty tree, root is NULL.

Definition at line 117 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
unsigned int octomap::OcTreeBaseImpl< NODE, INTERFACE >::getTreeDepth ( ) const [inline]

Definition at line 108 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
std::string octomap::OcTreeBaseImpl< NODE, INTERFACE >::getTreeType ( ) const [inline]

Reimplemented in octomap::ColorOcTree, octomap::OcTreeStamped, octomap::OcTree, octomap::OcTreeBase< NODE >, and octomap::OcTreeBase< CountingOcTreeNode >.

Definition at line 101 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
void octomap::OcTreeBaseImpl< NODE, INTERFACE >::getUnknownLeafCenters ( point3d_list &  node_centers,
point3d  pmin,
point3d  pmax 
) const

return centers of leafs that do NOT exist (but could) in a given bounding box

template<class NODE, class INTERFACE>
void octomap::OcTreeBaseImpl< NODE, INTERFACE >::init ( ) [protected]

initialize non-trivial members, helper for constructors

template<class NODE, class INTERFACE>
double octomap::OcTreeBaseImpl< NODE, INTERFACE >::keyToCoord ( unsigned short int  key,
unsigned  depth 
) const

converts from a discrete key at a given depth into a coordinate corresponding to the key's center

template<class NODE, class INTERFACE>
double octomap::OcTreeBaseImpl< NODE, INTERFACE >::keyToCoord ( unsigned short int  key) const [inline]

converts from a discrete key at the lowest tree level into a coordinate corresponding to the key's center

Definition at line 425 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
point3d octomap::OcTreeBaseImpl< NODE, INTERFACE >::keyToCoord ( const OcTreeKey &  key) const [inline]

converts from an addressing key at the lowest tree level into a coordinate corresponding to the key's center

Definition at line 431 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
point3d octomap::OcTreeBaseImpl< NODE, INTERFACE >::keyToCoord ( const OcTreeKey &  key,
unsigned  depth 
) const [inline]

converts from an addressing key at a given depth into a coordinate corresponding to the key's center

Definition at line 437 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
unsigned long long octomap::OcTreeBaseImpl< NODE, INTERFACE >::memoryFullGrid ( ) const
Returns:
Memory usage of a full grid of the same size as the OcTree in bytes (for comparison)
Note:
this can be larger than the adressable memory - size_t may not be enough to hold it!
template<class NODE, class INTERFACE>
virtual size_t octomap::OcTreeBaseImpl< NODE, INTERFACE >::memoryUsage ( ) const [virtual]
Returns:
Memory usage of the complete octree in bytes (may vary between architectures)
template<class NODE, class INTERFACE>
virtual size_t octomap::OcTreeBaseImpl< NODE, INTERFACE >::memoryUsageNode ( ) const [inline, virtual]
Returns:
Memory usage of a single octree node

Definition at line 185 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
OcTreeBaseImpl<NODE,INTERFACE>& octomap::OcTreeBaseImpl< NODE, INTERFACE >::operator= ( const OcTreeBaseImpl< NODE, INTERFACE > &  ) [private]

Assignment operator is private: don't (re-)assign octrees (const-parameters can't be changed) - use the copy constructor instead.

template<class NODE, class INTERFACE>
bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::operator== ( const OcTreeBaseImpl< NODE, INTERFACE > &  rhs) const

Comparison between two octrees, all meta data, all nodes, and the structure must be identical

template<class NODE, class INTERFACE>
virtual void octomap::OcTreeBaseImpl< NODE, INTERFACE >::prune ( ) [virtual]

Lossless compression of the octree: A node will replace all of its eight children if they have identical values. You usually don't have to call prune() after a regular occupancy update, updateNode() incrementally prunes all affected nodes.

template<class NODE, class INTERFACE>
void octomap::OcTreeBaseImpl< NODE, INTERFACE >::pruneRecurs ( NODE *  node,
unsigned int  depth,
unsigned int  max_depth,
unsigned int &  num_pruned 
) [protected]

recursive call of prune()

template<class NODE, class INTERFACE>
std::istream& octomap::OcTreeBaseImpl< NODE, INTERFACE >::readData ( std::istream &  s)

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.

template<class NODE, class INTERFACE>
NODE* octomap::OcTreeBaseImpl< NODE, INTERFACE >::search ( double  x,
double  y,
double  z,
unsigned int  depth = 0 
) const

Search node at specified depth given a 3d point (depth=0: search full tree depth). You need to check if the returned node is NULL, since it can be in unknown space.

Returns:
pointer to node if found, NULL otherwise
template<class NODE, class INTERFACE>
NODE* octomap::OcTreeBaseImpl< NODE, INTERFACE >::search ( const point3d &  value,
unsigned int  depth = 0 
) const

Search node at specified depth given a 3d point (depth=0: search full tree depth) You need to check if the returned node is NULL, since it can be in unknown space.

Returns:
pointer to node if found, NULL otherwise
template<class NODE, class INTERFACE>
NODE* octomap::OcTreeBaseImpl< NODE, INTERFACE >::search ( const OcTreeKey &  key,
unsigned int  depth = 0 
) const

Search a node at specified depth given an addressing key (depth=0: search full tree depth) You need to check if the returned node is NULL, since it can be in unknown space.

Returns:
pointer to node if found, NULL otherwise
template<class NODE, class INTERFACE>
void octomap::OcTreeBaseImpl< NODE, INTERFACE >::setResolution ( double  r)

Change the resolution of the octree, scaling all voxels. This will not preserve the (metric) scale!

template<class NODE, class INTERFACE>
virtual size_t octomap::OcTreeBaseImpl< NODE, INTERFACE >::size ( ) const [inline, virtual]
Returns:
The number of nodes in the tree

Definition at line 179 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
void octomap::OcTreeBaseImpl< NODE, INTERFACE >::swapContent ( OcTreeBaseImpl< NODE, INTERFACE > &  rhs)

Swap contents of two octrees, i.e., only the underlying pointer / tree structure. You have to ensure yourself that the metadata (resolution etc) matches. No memory is cleared in this function

template<class NODE, class INTERFACE>
double octomap::OcTreeBaseImpl< NODE, INTERFACE >::volume ( )
template<class NODE, class INTERFACE>
std::ostream& octomap::OcTreeBaseImpl< NODE, INTERFACE >::writeData ( std::ostream &  s) const

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

Member Data Documentation

template<class NODE, class INTERFACE>
std::vector<KeyRay> octomap::OcTreeBaseImpl< NODE, INTERFACE >::keyrays [protected]

data structure for ray casting, array for multithreading

Definition at line 492 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
const leaf_bbx_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::leaf_iterator_bbx_end [protected]

Definition at line 495 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
const leaf_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::leaf_iterator_end [protected]

Definition at line 494 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
double octomap::OcTreeBaseImpl< NODE, INTERFACE >::max_value[3] [protected]

max in x, y, z

Definition at line 486 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
double octomap::OcTreeBaseImpl< NODE, INTERFACE >::min_value[3] [protected]

min in x, y, z

Definition at line 487 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
double octomap::OcTreeBaseImpl< NODE, INTERFACE >::resolution [protected]

in meters

Definition at line 477 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
double octomap::OcTreeBaseImpl< NODE, INTERFACE >::resolution_factor [protected]

= 1. / resolution

Definition at line 478 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
NODE* octomap::OcTreeBaseImpl< NODE, INTERFACE >::root [protected]

Pointer to the root NODE, NULL for empty tree.

Definition at line 472 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
bool octomap::OcTreeBaseImpl< NODE, INTERFACE >::size_changed [protected]

flag to denote whether the octree extent changed (for lazy min/max eval)

Definition at line 482 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
std::vector<double> octomap::OcTreeBaseImpl< NODE, INTERFACE >::sizeLookupTable [protected]

contains the size of a voxel at level i (0: root node). tree_depth+1 levels (incl. 0)

Definition at line 489 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
point3d octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_center [protected]

Definition at line 484 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
const unsigned int octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_depth [protected]

Maximum tree depth is fixed to 16 currently.

Definition at line 475 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
const tree_iterator octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_iterator_end [protected]

Definition at line 496 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
const unsigned int octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_max_val [protected]

Definition at line 476 of file OcTreeBaseImpl.h.

template<class NODE, class INTERFACE>
size_t octomap::OcTreeBaseImpl< NODE, INTERFACE >::tree_size [protected]

number of nodes in tree

Definition at line 480 of file OcTreeBaseImpl.h.

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

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