octree_stamped_base_pa.h
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00001 /******************************************************************************
00002 *                                                                             *
00003 * octree_stamped_base_pa.h                                                    *
00004 * ========================                                                    *
00005 *                                                                             *
00006 *******************************************************************************
00007 *                                                                             *
00008 * github repository                                                           *
00009 *   https://github.com/TUC-ProAut/ros_octomap                                 *
00010 *                                                                             *
00011 * Chair of Automation Technology, Technische Universität Chemnitz             *
00012 *   https://www.tu-chemnitz.de/etit/proaut                                    *
00013 *                                                                             *
00014 *******************************************************************************
00015 *                                                                             *
00016 * New BSD License                                                             *
00017 *                                                                             *
00018 * Copyright (c) 2015-2018, Peter Weissig, Technische Universität Chemnitz     *
00019 * All rights reserved.                                                        *
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00045 
00046 #ifndef OCTREE_STAMPED_BASE_PA_H
00047 #define OCTREE_STAMPED_BASE_PA_H
00048 
00049 // local headers
00050 #include "octomap_pa/node_stamped_base_pa.h"
00051 
00052 // standard headers
00053 #include <string>
00054 
00055 //**************************[cOcTreeStampedBasePa]*****************************
00056 template <template <typename> class OCTREE, typename NODE>
00057 class cOcTreeStampedBasePa : public OCTREE< cNodeStampedBasePa<NODE> > {
00058 
00059   public:
00060     typedef cNodeStampedBasePa<NODE> NodeTypeFull;
00061     typedef NODE                     NodeTypeBase;
00062     typedef OCTREE< NodeTypeFull >   TreeTypeBase;
00063 
00065     cOcTreeStampedBasePa(double resolution);
00066 
00067     // Default destructor
00068     virtual ~cOcTreeStampedBasePa(void);
00069 
00072     cOcTreeStampedBasePa<OCTREE,NODE>* create() const;
00073 
00074     virtual void updateNodeLogOdds(NodeTypeFull* node, const float& update)
00075       const;
00076 
00077     void degradeOutdatedNodes(const cTimePa timediff);
00078 
00082     inline void setTimestamp(const cTimePa timestamp);
00083     inline const cTimePa& getTimestamp(void) const;
00084 
00085   protected:
00087     cTimePa current_timestamp;
00088 
00089 };
00090 
00091 
00092 #include "octomap_pa/octree_stamped_base_pa.hxx"
00093 
00094 #endif //#ifndef OCTREE_STAMPED_BASE_PA_H


octomap_pa
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autogenerated on Thu Jun 6 2019 17:53:30