#include <OcTreeNode.h>
Public Member Functions | |
| void | addValue (const float &p) |
| adds p to the node's logOdds value (with no boundary / threshold checking!) | |
| bool | createChild (unsigned int i) |
| initialize i-th child, allocate children array if needed | |
| OcTreeNode * | getChild (unsigned int i) |
| const OcTreeNode * | getChild (unsigned int i) const |
| float | getLogOdds () const |
| float | getMaxChildLogOdds () const |
| double | getMeanChildLogOdds () const |
| double | getOccupancy () const |
| OcTreeNode () | |
| void | setLogOdds (float l) |
| sets log odds occupancy of node | |
| void | updateOccupancyChildren () |
| update this node's occupancy according to its children's maximum occupancy | |
| ~OcTreeNode () | |
Detailed Description
Nodes to be used in OcTree. They represent 3d occupancy grid cells. "value" stores their log-odds occupancy.
Hint: If a class is derived from OcTreeNode, you have to implement (at least) createChild, getChild, and getChild const. See OcTreeNodeLabeled for an example.
Definition at line 52 of file OcTreeNode.h.
Constructor & Destructor Documentation
Definition at line 44 of file OcTreeNode.cpp.
Definition at line 49 of file OcTreeNode.cpp.
Member Function Documentation
| void octomap::OcTreeNode::addValue | ( | const float & | p | ) |
adds p to the node's logOdds value (with no boundary / threshold checking!)
Definition at line 94 of file OcTreeNode.cpp.
| bool octomap::OcTreeNode::createChild | ( | unsigned int | i | ) |
initialize i-th child, allocate children array if needed
Reimplemented from octomap::OcTreeDataNode< float >.
Reimplemented in octomap::ColorOcTreeNode, and octomap::OcTreeNodeStamped.
Definition at line 54 of file OcTreeNode.cpp.
| OcTreeNode* octomap::OcTreeNode::getChild | ( | unsigned int | i | ) | [inline] |
- Returns:
- a pointer to the i-th child of the node. The child needs to exist.
Reimplemented from octomap::OcTreeDataNode< float >.
Reimplemented in octomap::ColorOcTreeNode, and octomap::OcTreeNodeStamped.
Definition at line 61 of file OcTreeNode.h.
| const OcTreeNode* octomap::OcTreeNode::getChild | ( | unsigned int | i | ) | const [inline] |
- Returns:
- a const pointer to the i-th child of the node. The child needs to exist.
Reimplemented from octomap::OcTreeDataNode< float >.
Reimplemented in octomap::ColorOcTreeNode, and octomap::OcTreeNodeStamped.
Definition at line 64 of file OcTreeNode.h.
| float octomap::OcTreeNode::getLogOdds | ( | ) | const [inline] |
- Returns:
- log odds representation of occupancy probability of node
Definition at line 74 of file OcTreeNode.h.
| float octomap::OcTreeNode::getMaxChildLogOdds | ( | ) | const |
- Returns:
- maximum of children's occupancy probabilities, in log odds
Definition at line 82 of file OcTreeNode.cpp.
| double octomap::OcTreeNode::getMeanChildLogOdds | ( | ) | const |
- Returns:
- mean of all children's occupancy probabilities, in log odds
Definition at line 67 of file OcTreeNode.cpp.
| double octomap::OcTreeNode::getOccupancy | ( | ) | const [inline] |
- Returns:
- occupancy probability of node
Definition at line 71 of file OcTreeNode.h.
| void octomap::OcTreeNode::setLogOdds | ( | float | l | ) | [inline] |
sets log odds occupancy of node
Definition at line 76 of file OcTreeNode.h.
| void octomap::OcTreeNode::updateOccupancyChildren | ( | ) | [inline] |
update this node's occupancy according to its children's maximum occupancy
Reimplemented in octomap::OcTreeNodeStamped.
Definition at line 89 of file OcTreeNode.h.
The documentation for this class was generated from the following files: