AbstractOccupancyOcTree.h

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/*
 * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
 * http://octomap.github.com/
 *
 * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
 * All rights reserved.
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#ifndef OCTOMAP_ABSTRACT_OCCUPANCY_OCTREE_H
#define OCTOMAP_ABSTRACT_OCCUPANCY_OCTREE_H

#include "AbstractOcTree.h"
#include "octomap_utils.h"
#include "OcTreeNode.h"
#include "OcTreeKey.h"
#include <cassert>
#include <fstream>


namespace octomap {

  class AbstractOccupancyOcTree : public AbstractOcTree {
  public:
    AbstractOccupancyOcTree();
    virtual ~AbstractOccupancyOcTree() {};

    //-- IO

    bool writeBinary(const std::string& filename);

    bool writeBinary(std::ostream &s);

    bool writeBinaryConst(const std::string& filename) const;

    bool writeBinaryConst(std::ostream &s) const;

    virtual std::ostream& writeBinaryData(std::ostream &s) const = 0;
    
    bool readBinary(std::istream &s);
    
    bool readBinary(const std::string& filename);

    virtual std::istream& readBinaryData(std::istream &s) = 0;

    // -- occupancy queries

    inline bool isNodeOccupied(const OcTreeNode* occupancyNode) const{
      return (occupancyNode->getLogOdds() >= this->occ_prob_thres_log);
    }

    inline bool isNodeOccupied(const OcTreeNode& occupancyNode) const{
      return (occupancyNode.getLogOdds() >= this->occ_prob_thres_log);
    }

    inline bool isNodeAtThreshold(const OcTreeNode* occupancyNode) const{
      return (occupancyNode->getLogOdds() >= this->clamping_thres_max
          || occupancyNode->getLogOdds() <= this->clamping_thres_min);
    }

    inline bool isNodeAtThreshold(const OcTreeNode& occupancyNode) const{
      return (occupancyNode.getLogOdds() >= this->clamping_thres_max
          || occupancyNode.getLogOdds() <= this->clamping_thres_min);
    }

    // - update functions

    virtual OcTreeNode* updateNode(const OcTreeKey& key, float log_odds_update, bool lazy_eval = false) = 0;

    virtual OcTreeNode* updateNode(const point3d& value, float log_odds_update, bool lazy_eval = false) = 0;

    virtual OcTreeNode* updateNode(const OcTreeKey& key, bool occupied, bool lazy_eval = false) = 0;

    virtual OcTreeNode* updateNode(const point3d& value, bool occupied, bool lazy_eval = false) = 0;

    virtual void toMaxLikelihood() = 0;

    //-- parameters for occupancy and sensor model:

    void setOccupancyThres(double prob){occ_prob_thres_log = logodds(prob); }
    void setProbHit(double prob){prob_hit_log = logodds(prob); assert(prob_hit_log >= 0.0);}
    void setProbMiss(double prob){prob_miss_log = logodds(prob); assert(prob_miss_log <= 0.0);}
    void setClampingThresMin(double thresProb){clamping_thres_min = logodds(thresProb); }
    void setClampingThresMax(double thresProb){clamping_thres_max = logodds(thresProb); }

    double getOccupancyThres() const {return probability(occ_prob_thres_log); }
    float getOccupancyThresLog() const {return occ_prob_thres_log; }

    double getProbHit() const {return probability(prob_hit_log); }
    float getProbHitLog() const {return prob_hit_log; }
    double getProbMiss() const {return probability(prob_miss_log); }
    float getProbMissLog() const {return prob_miss_log; }

    double getClampingThresMin() const {return probability(clamping_thres_min); }
    float getClampingThresMinLog() const {return clamping_thres_min; }
    double getClampingThresMax() const {return probability(clamping_thres_max); }
    float getClampingThresMaxLog() const {return clamping_thres_max; }




  protected:
    bool readBinaryLegacyHeader(std::istream &s, unsigned int& size, double& res);
    
    // occupancy parameters of tree, stored in logodds:
    float clamping_thres_min;
    float clamping_thres_max;
    float prob_hit_log;
    float prob_miss_log;
    float occ_prob_thres_log;

    static const std::string binaryFileHeader;
  };

}; // end namespace


#endif