A DynamicEDTOctomap object connects a DynamicEDT3D object to an octomap. More...

#include <dynamicEDTOctomap.h>

Inheritance diagram for DynamicEDTOctomap:

Public Member Functions
bool	checkConsistency () const
	Brute force method used for debug purposes. Checks occupancy state consistency between octomap and internal representation.
	DynamicEDTOctomap (float maxdist, octomap::OcTree *_octree, octomap::point3d bbxMin, octomap::point3d bbxMax, bool treatUnknownAsOccupied)
float	getDistance (const octomap::point3d &p) const
	retrieves distance at point. Returns DynamicEDTOctomap::distanceValue_Error if point is outside the map.
float	getDistance (const octomap::OcTreeKey &k) const
	retrieves distance at key. Returns DynamicEDTOctomap::distanceValue_Error if key is outside the map.
float	getDistance_unsafe (const octomap::point3d &p) const
float	getDistance_unsafe (const octomap::OcTreeKey &k) const
void	getDistanceAndClosestObstacle (const octomap::point3d &p, float &distance, octomap::point3d &closestObstacle) const
void	getDistanceAndClosestObstacle_unsafe (const octomap::point3d &p, float &distance, octomap::point3d &closestObstacle) const
float	getMaxDist () const
	retrieve maximum distance value
int	getSquaredDistanceInCells (const octomap::point3d &p) const
	retrieves squared distance in cells at point. Returns DynamicEDTOctomap::distanceInCellsValue_Error if point is outside the map.
int	getSquaredDistanceInCells_unsafe (const octomap::point3d &p) const
int	getSquaredMaxDistCells () const
	retrieve squared maximum distance value in grid cells
virtual void	update (bool updateRealDist=true)
virtual	~DynamicEDTOctomap ()
Static Public Attributes
static int	distanceInCellsValue_Error = -1
	distance value returned when requesting distance in cell units for a cell outside the map
static float	distanceValue_Error = -1.0
	distance value returned when requesting distance for a cell outside the map
Private Member Functions
void	initializeOcTree (octomap::point3d bbxMin, octomap::point3d bbxMax)
void	insertMaxDepthLeafAtInitialize (octomap::OcTreeKey key)
void	mapToWorld (int x, int y, int z, octomap::point3d &p) const
void	mapToWorld (int x, int y, int z, octomap::OcTreeKey &key) const
void	updateMaxDepthLeaf (octomap::OcTreeKey &key, bool occupied)
void	worldToMap (const octomap::point3d &p, int &x, int &y, int &z) const
Private Attributes
octomap::OcTreeKey	boundingBoxMaxKey
octomap::OcTreeKey	boundingBoxMinKey
octomap::OcTree *	octree
int	offsetX
int	offsetY
int	offsetZ
int	treeDepth
double	treeResolution
bool	unknownOccupied

Detailed Description

A DynamicEDTOctomap object connects a DynamicEDT3D object to an octomap.

dynamicEDT3D: A library for incrementally updatable Euclidean distance transforms in 3D.

Author:: C. Sprunk, B. Lau, W. Burgard, University of Freiburg, Copyright (C) 2011.

See also:: http://octomap.sourceforge.net/ License: New BSD License

Definition at line 45 of file dynamicEDTOctomap.h.

Constructor & Destructor Documentation

DynamicEDTOctomap::DynamicEDTOctomap	(	float	maxdist,
		octomap::OcTree *	_octree,
		octomap::point3d	bbxMin,
		octomap::point3d	bbxMax,
		bool	treatUnknownAsOccupied
	)

Create a DynamicEDTOctomap object that maintains a distance transform in the bounding box given by bbxMin, bbxMax and clamps distances at maxdist. treatUnknownAsOccupied configures the treatment of unknown cells in the distance computation.

The constructor copies occupancy data but does not yet compute the distance map. You need to call udpate to do this.

The distance map is maintained in a full three-dimensional array, i.e., there exists a float field in memory for every voxel inside the bounding box given by bbxMin and bbxMax. Consider this when computing distance maps for large octomaps, they will use much more memory than the octomap itself!

Definition at line 43 of file dynamicEDTOctomap.cpp.

DynamicEDTOctomap::~DynamicEDTOctomap ( ) [virtual]

Definition at line 52 of file dynamicEDTOctomap.cpp.

Member Function Documentation

bool DynamicEDTOctomap::checkConsistency ( ) const

Brute force method used for debug purposes. Checks occupancy state consistency between octomap and internal representation.

Definition at line 291 of file dynamicEDTOctomap.cpp.

float DynamicEDTOctomap::getDistance ( const octomap::point3d & p ) const

retrieves distance at point. Returns DynamicEDTOctomap::distanceValue_Error if point is outside the map.

Definition at line 235 of file dynamicEDTOctomap.cpp.

float DynamicEDTOctomap::getDistance ( const octomap::OcTreeKey & k ) const

retrieves distance at key. Returns DynamicEDTOctomap::distanceValue_Error if key is outside the map.

Definition at line 252 of file dynamicEDTOctomap.cpp.

float DynamicEDTOctomap::getDistance_unsafe ( const octomap::point3d & p ) const

Definition at line 245 of file dynamicEDTOctomap.cpp.

float DynamicEDTOctomap::getDistance_unsafe ( const octomap::OcTreeKey & k ) const

Definition at line 265 of file dynamicEDTOctomap.cpp.

void DynamicEDTOctomap::getDistanceAndClosestObstacle	(	const octomap::point3d &	p,
		float &	distance,
		octomap::point3d &	closestObstacle
	)		const

retrieves distance and closestObstacle (closestObstacle is to be discarded if distance is maximum distance, the method does not write closestObstacle in this case). Returns DynamicEDTOctomap::distanceValue_Error if point is outside the map.

Definition at line 202 of file dynamicEDTOctomap.cpp.

void DynamicEDTOctomap::getDistanceAndClosestObstacle_unsafe	(	const octomap::point3d &	p,
		float &	distance,
		octomap::point3d &	closestObstacle
	)		const

Definition at line 220 of file dynamicEDTOctomap.cpp.

float DynamicEDTOctomap::getMaxDist ( ) const [inline]

retrieve maximum distance value

Definition at line 88 of file dynamicEDTOctomap.h.

int DynamicEDTOctomap::getSquaredDistanceInCells ( const octomap::point3d & p ) const

retrieves squared distance in cells at point. Returns DynamicEDTOctomap::distanceInCellsValue_Error if point is outside the map.

Definition at line 274 of file dynamicEDTOctomap.cpp.

int DynamicEDTOctomap::getSquaredDistanceInCells_unsafe ( const octomap::point3d & p ) const

Definition at line 284 of file dynamicEDTOctomap.cpp.

int DynamicEDTOctomap::getSquaredMaxDistCells ( ) const [inline]

retrieve squared maximum distance value in grid cells

Definition at line 93 of file dynamicEDTOctomap.h.

void DynamicEDTOctomap::initializeOcTree	(	octomap::point3d	bbxMin,
		octomap::point3d	bbxMax
	)		`[private]`

Definition at line 82 of file dynamicEDTOctomap.cpp.

void DynamicEDTOctomap::insertMaxDepthLeafAtInitialize ( octomap::OcTreeKey key ) [private]

Definition at line 143 of file dynamicEDTOctomap.cpp.

void DynamicEDTOctomap::mapToWorld	(	int	x,
		int	y,
		int	z,
		octomap::point3d &	p
	)		const `[private]`

Definition at line 193 of file dynamicEDTOctomap.cpp.

void DynamicEDTOctomap::mapToWorld	(	int	x,
		int	y,
		int	z,
		octomap::OcTreeKey &	key
	)		const `[private]`

Definition at line 197 of file dynamicEDTOctomap.cpp.

void DynamicEDTOctomap::update ( bool updateRealDist = true ) [virtual]

trigger updating of the distance map. This will query the octomap for the set of changes since the last update. If you set updateRealDist to false, computations will be faster (square root will be omitted), but you can only retrieve squared distances

Reimplemented from DynamicEDT3D.

Definition at line 57 of file dynamicEDTOctomap.cpp.