#include <AbstractOccupancyOcTree.h>

Inheritance diagram for octomap::AbstractOccupancyOcTree:

Public Member Functions
	AbstractOccupancyOcTree ()
double	getClampingThresMax () const
float	getClampingThresMaxLog () const
double	getClampingThresMin () const
float	getClampingThresMinLog () const
double	getOccupancyThres () const
float	getOccupancyThresLog () const
double	getProbHit () const
float	getProbHitLog () const
double	getProbMiss () const
float	getProbMissLog () const
bool	isNodeAtThreshold (const OcTreeNode *occupancyNode) const
	queries whether a node is at the clamping threshold according to the tree's parameter
bool	isNodeAtThreshold (const OcTreeNode &occupancyNode) const
	queries whether a node is at the clamping threshold according to the tree's parameter
bool	isNodeOccupied (const OcTreeNode *occupancyNode) const
	queries whether a node is occupied according to the tree's parameter for "occupancy"
bool	isNodeOccupied (const OcTreeNode &occupancyNode) const
	queries whether a node is occupied according to the tree's parameter for "occupancy"
bool	readBinary (std::istream &s)
bool	readBinary (const std::string &filename)
virtual std::istream &	readBinaryData (std::istream &s)=0
	Reads the actual data, implemented in OccupancyOcTreeBase::readBinaryData()
void	setClampingThresMax (double thresProb)
	sets the maximum threshold for occupancy clamping (sensor model)
void	setClampingThresMin (double thresProb)
	sets the minimum threshold for occupancy clamping (sensor model)
void	setOccupancyThres (double prob)
	sets the threshold for occupancy (sensor model)
void	setProbHit (double prob)
	sets the probability for a "hit" (will be converted to logodds) - sensor model
void	setProbMiss (double prob)
	sets the probability for a "miss" (will be converted to logodds) - sensor model
virtual void	toMaxLikelihood ()=0
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
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
	Writes the actual data, implemented in OccupancyOcTreeBase::writeBinaryData()
virtual	~AbstractOccupancyOcTree ()
Protected Member Functions
bool	readBinaryLegacyHeader (std::istream &s, unsigned int &size, double &res)
	Try to read the old binary format for conversion, will be removed in the future.
Protected Attributes
float	clamping_thres_max
float	clamping_thres_min
float	occ_prob_thres_log
float	prob_hit_log
float	prob_miss_log
Static Protected Attributes
static const std::string	binaryFileHeader = "# Octomap OcTree binary file"

Detailed Description

Interface class for all octree types that store occupancy. This serves as a common base class e.g. for polymorphism and contains common code for reading and writing binary trees.

Definition at line 52 of file AbstractOccupancyOcTree.h.

Constructor & Destructor Documentation

octomap::AbstractOccupancyOcTree::AbstractOccupancyOcTree ( )

Definition at line 40 of file AbstractOccupancyOcTree.cpp.

virtual octomap::AbstractOccupancyOcTree::~AbstractOccupancyOcTree ( ) [inline, virtual]

Definition at line 55 of file AbstractOccupancyOcTree.h.

Member Function Documentation

double octomap::AbstractOccupancyOcTree::getClampingThresMax ( ) const [inline]

Returns:: maximum threshold for occupancy clamping in the sensor model (probability)

Definition at line 217 of file AbstractOccupancyOcTree.h.

float octomap::AbstractOccupancyOcTree::getClampingThresMaxLog ( ) const [inline]

Returns:: maximum threshold for occupancy clamping in the sensor model (logodds)

Definition at line 219 of file AbstractOccupancyOcTree.h.

double octomap::AbstractOccupancyOcTree::getClampingThresMin ( ) const [inline]

Returns:: minimum threshold for occupancy clamping in the sensor model (probability)

Definition at line 213 of file AbstractOccupancyOcTree.h.

float octomap::AbstractOccupancyOcTree::getClampingThresMinLog ( ) const [inline]

Returns:: minimum threshold for occupancy clamping in the sensor model (logodds)

Definition at line 215 of file AbstractOccupancyOcTree.h.

double octomap::AbstractOccupancyOcTree::getOccupancyThres ( ) const [inline]

Returns:: threshold (probability) for occupancy - sensor model

Definition at line 199 of file AbstractOccupancyOcTree.h.

float octomap::AbstractOccupancyOcTree::getOccupancyThresLog ( ) const [inline]

Returns:: threshold (logodds) for occupancy - sensor model

Definition at line 201 of file AbstractOccupancyOcTree.h.

double octomap::AbstractOccupancyOcTree::getProbHit ( ) const [inline]

Returns:: probability for a "hit" in the sensor model (probability)

Definition at line 204 of file AbstractOccupancyOcTree.h.

float octomap::AbstractOccupancyOcTree::getProbHitLog ( ) const [inline]

Returns:: probability for a "hit" in the sensor model (logodds)

Definition at line 206 of file AbstractOccupancyOcTree.h.

double octomap::AbstractOccupancyOcTree::getProbMiss ( ) const [inline]

Returns:: probability for a "miss" in the sensor model (probability)

Definition at line 208 of file AbstractOccupancyOcTree.h.

float octomap::AbstractOccupancyOcTree::getProbMissLog ( ) const [inline]

Returns:: probability for a "miss" in the sensor model (logodds)

Definition at line 210 of file AbstractOccupancyOcTree.h.

bool octomap::AbstractOccupancyOcTree::isNodeAtThreshold ( const OcTreeNode * occupancyNode ) const [inline]

queries whether a node is at the clamping threshold according to the tree's parameter

Definition at line 124 of file AbstractOccupancyOcTree.h.

bool octomap::AbstractOccupancyOcTree::isNodeAtThreshold ( const OcTreeNode & occupancyNode ) const [inline]

queries whether a node is at the clamping threshold according to the tree's parameter

Definition at line 130 of file AbstractOccupancyOcTree.h.

bool octomap::AbstractOccupancyOcTree::isNodeOccupied ( const OcTreeNode * occupancyNode ) const [inline]

queries whether a node is occupied according to the tree's parameter for "occupancy"

Definition at line 114 of file AbstractOccupancyOcTree.h.

bool octomap::AbstractOccupancyOcTree::isNodeOccupied ( const OcTreeNode & occupancyNode ) const [inline]

queries whether a node is occupied according to the tree's parameter for "occupancy"

Definition at line 119 of file AbstractOccupancyOcTree.h.

bool octomap::AbstractOccupancyOcTree::readBinary ( std::istream & s )

Reads an OcTree from an input stream. Existing nodes of the tree are deleted before the tree is read.

Returns:: success of operation

Definition at line 135 of file AbstractOccupancyOcTree.cpp.

bool octomap::AbstractOccupancyOcTree::readBinary ( const std::string & filename )

Reads OcTree from a binary file. Existing nodes of the tree are deleted before the tree is read.

Returns:: success of operation

Definition at line 126 of file AbstractOccupancyOcTree.cpp.

virtual std::istream& octomap::AbstractOccupancyOcTree::readBinaryData ( std::istream & s ) [pure virtual]

Reads the actual data, implemented in OccupancyOcTreeBase::readBinaryData()

Implemented in octomap::OccupancyOcTreeBase< NODE >.

bool octomap::AbstractOccupancyOcTree::readBinaryLegacyHeader	(	std::istream &	s,
		unsigned int &	size,
		double &	res
	)		`[protected]`

Try to read the old binary format for conversion, will be removed in the future.

Definition at line 98 of file AbstractOccupancyOcTree.cpp.

void octomap::AbstractOccupancyOcTree::setClampingThresMax ( double thresProb ) [inline]

sets the maximum threshold for occupancy clamping (sensor model)

Definition at line 196 of file AbstractOccupancyOcTree.h.

void octomap::AbstractOccupancyOcTree::setClampingThresMin ( double thresProb ) [inline]

sets the minimum threshold for occupancy clamping (sensor model)

Definition at line 194 of file AbstractOccupancyOcTree.h.

void octomap::AbstractOccupancyOcTree::setOccupancyThres ( double prob ) [inline]

sets the threshold for occupancy (sensor model)

Definition at line 188 of file AbstractOccupancyOcTree.h.

void octomap::AbstractOccupancyOcTree::setProbHit ( double prob ) [inline]

sets the probability for a "hit" (will be converted to logodds) - sensor model

Definition at line 190 of file AbstractOccupancyOcTree.h.

void octomap::AbstractOccupancyOcTree::setProbMiss ( double prob ) [inline]

sets the probability for a "miss" (will be converted to logodds) - sensor model

Definition at line 192 of file AbstractOccupancyOcTree.h.

virtual void octomap::AbstractOccupancyOcTree::toMaxLikelihood ( ) [pure virtual]

Implemented in octomap::OccupancyOcTreeBase< NODE >.

virtual OcTreeNode* octomap::AbstractOccupancyOcTree::updateNode	(	const OcTreeKey &	key,
		float	log_odds_update,
		bool	lazy_eval = `false`
	)		`[pure virtual]`

Manipulate log_odds value of voxel directly

Parameters:

key	of the NODE that is to be updated
log_odds_update	value to be added (+) to log_odds value of node
lazy_eval	whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns:: pointer to the updated NODE

Implemented in octomap::OccupancyOcTreeBase< NODE >.

virtual OcTreeNode* octomap::AbstractOccupancyOcTree::updateNode	(	const point3d &	value,
		float	log_odds_update,
		bool	lazy_eval = `false`
	)		`[pure virtual]`

Manipulate log_odds value of voxel directly. Looks up the OcTreeKey corresponding to the coordinate and then calls udpateNode() with it.

Parameters:

value	3d coordinate of the NODE that is to be updated
log_odds_update	value to be added (+) to log_odds value of node
lazy_eval	whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns:: pointer to the updated NODE

Implemented in octomap::OccupancyOcTreeBase< NODE >.

virtual OcTreeNode* octomap::AbstractOccupancyOcTree::updateNode	(	const OcTreeKey &	key,
		bool	occupied,
		bool	lazy_eval = `false`
	)		`[pure virtual]`

Integrate occupancy measurement.

Parameters:

key	of the NODE that is to be updated
occupied	true if the node was measured occupied, else false
lazy_eval	whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns:: pointer to the updated NODE

Implemented in octomap::OccupancyOcTreeBase< NODE >.

virtual OcTreeNode* octomap::AbstractOccupancyOcTree::updateNode	(	const point3d &	value,
		bool	occupied,
		bool	lazy_eval = `false`
	)		`[pure virtual]`

Integrate occupancy measurement. Looks up the OcTreeKey corresponding to the coordinate and then calls udpateNode() with it.

Parameters:

value	3d coordinate of the NODE that is to be updated
occupied	true if the node was measured occupied, else false
lazy_eval	whether update of inner nodes is omitted after the update (default: false). This speeds up the insertion, but you need to call updateInnerOccupancy() when done.

Returns:: pointer to the updated NODE

Implemented in octomap::OccupancyOcTreeBase< NODE >.

bool octomap::AbstractOccupancyOcTree::writeBinary ( const std::string & filename )

Writes OcTree to a binary file using writeBinary(). The OcTree is first converted to the maximum likelihood estimate and pruned.

Returns:: success of operation

Definition at line 50 of file AbstractOccupancyOcTree.cpp.

bool octomap::AbstractOccupancyOcTree::writeBinary ( std::ostream & s )

Writes compressed maximum likelihood OcTree to a binary stream. The OcTree is first converted to the maximum likelihood estimate and pruned for maximum compression.

Returns:: success of operation

Definition at line 72 of file AbstractOccupancyOcTree.cpp.

bool octomap::AbstractOccupancyOcTree::writeBinaryConst ( const std::string & filename ) const

Writes OcTree to a binary file using writeBinaryConst(). The OcTree is not changed, in particular not pruned first. Files will be smaller when the tree is pruned first or by using writeBinary() instead.

Returns:: success of operation

Definition at line 60 of file AbstractOccupancyOcTree.cpp.

bool octomap::AbstractOccupancyOcTree::writeBinaryConst ( std::ostream & s ) const

Writes the maximum likelihood OcTree to a binary stream (const variant). Files will be smaller when the tree is pruned first or by using writeBinary() instead.