OcTreeNode.cpp

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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.
 * License: New BSD
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the University of Freiburg nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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 */

#include <bitset>
#include <cassert>
#include <math.h>
#include <fstream>
#include <stdlib.h>

#include <octomap/OcTreeNode.h>

namespace octomap {

  OcTreeNode::OcTreeNode()
    : OcTreeDataNode<float>(0.0)
  {
  }

  OcTreeNode::~OcTreeNode(){
  }

  // TODO: Use Curiously Recurring Template Pattern instead of copying full function
  // (same for getChild)
  bool OcTreeNode::createChild(unsigned int i) {
    if (children == NULL) {
      allocChildren();
    }
    assert (children[i] == NULL);
    children[i] = new OcTreeNode();
    return true;
  }

  // ============================================================
  // =  occupancy probability  ==================================
  // ============================================================

  double OcTreeNode::getMeanChildLogOdds() const{
    double mean = 0;
    char c = 0;
    for (unsigned int i=0; i<8; i++) {
      if (childExists(i)) {
        mean += getChild(i)->getOccupancy();
        c++;
      }
    }
    if (c)
      mean /= (double) c;

    return log(mean/(1-mean));
  }

  float OcTreeNode::getMaxChildLogOdds() const{
    float max = -std::numeric_limits<float>::max();
    for (unsigned int i=0; i<8; i++) {
      if (childExists(i)) {
        float l = getChild(i)->getLogOdds();
        if (l > max)
          max = l;
      }
    }
    return max;
  }

  void OcTreeNode::addValue(const float& logOdds) {
    value += logOdds;
  }
  
} // end namespace