OcTreeStamped.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.
 * License: New BSD
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
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 *       documentation and/or other materials provided with the distribution.
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 *       this software without specific prior written permission.
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 */

#ifndef OCTOMAP_OCTREE_STAMPED_H
#define OCTOMAP_OCTREE_STAMPED_H


#include <octomap/OcTreeNode.h>
#include <octomap/OccupancyOcTreeBase.h>
#include <ctime>

namespace octomap {
  
  // node definition
  class OcTreeNodeStamped : public OcTreeNode {    

  public:
    OcTreeNodeStamped() : OcTreeNode(), timestamp(0) {}

    OcTreeNodeStamped(const OcTreeNodeStamped& rhs) : OcTreeNode(rhs), timestamp(rhs.timestamp) {}

    bool operator==(const OcTreeNodeStamped& rhs) const{
      return (rhs.value == value && rhs.timestamp == timestamp);
    }
    
    // children
    inline OcTreeNodeStamped* getChild(unsigned int i) {
      return static_cast<OcTreeNodeStamped*> (OcTreeNode::getChild(i));
    }
    inline const OcTreeNodeStamped* getChild(unsigned int i) const {
      return static_cast<const OcTreeNodeStamped*> (OcTreeNode::getChild(i));
    }

    bool createChild(unsigned int i) {
      if (children == NULL) allocChildren();
      children[i] = new OcTreeNodeStamped();
      return true;
    }
    
    // timestamp
    inline unsigned int getTimestamp() const { return timestamp; }
    inline void updateTimestamp() { timestamp = (unsigned int) time(NULL);}
    inline void setTimestamp(unsigned int timestamp) {this->timestamp = timestamp; }

    // update occupancy and timesteps of inner nodes 
    inline void updateOccupancyChildren() {      
      this->setLogOdds(this->getMaxChildLogOdds());  // conservative
      updateTimestamp();
    }

  protected:
    unsigned int timestamp;
  };


  // tree definition
  class OcTreeStamped : public OccupancyOcTreeBase <OcTreeNodeStamped> {    

  public:
    OcTreeStamped(double resolution) : OccupancyOcTreeBase<OcTreeNodeStamped>(resolution) {};    
      
    OcTreeStamped* create() const {return new OcTreeStamped(resolution); }

    std::string getTreeType() const {return "OcTreeStamped";}

    unsigned int getLastUpdateTime();

    void degradeOutdatedNodes(unsigned int time_thres);
    
    virtual void updateNodeLogOdds(OcTreeNodeStamped* node, const float& update) const;
    void integrateMissNoTime(OcTreeNodeStamped* node) const;

  protected:
    class StaticMemberInitializer{
    public:
      StaticMemberInitializer() {
        OcTreeStamped* tree = new OcTreeStamped(0.1);
        AbstractOcTree::registerTreeType(tree);
      }
    };
    static StaticMemberInitializer ocTreeStampedMemberInit;
    
  };

} // end namespace

#endif