Inheritance diagram for octomap::CountingOcTreeNode:

Public Member Functions
	CountingOcTreeNode ()
	implementation of CountingOcTreeNode ----------------------------------
bool	createChild (unsigned int i)
	initialize i-th child, allocate children array if needed
void	expandNode ()
CountingOcTreeNode *	getChild (unsigned int i)
const CountingOcTreeNode *	getChild (unsigned int i) const
unsigned int	getCount () const
void	increaseCount ()
void	setCount (unsigned c)
	~CountingOcTreeNode ()

Detailed Description

An Octree-node which stores an internal counter per node / volume.

Count is recursive, parent nodes have the summed count of their children.

Note:: In our mapping system this data structure is used in CountingOcTree in the sensor model only

Definition at line 53 of file CountingOcTree.h.

Constructor & Destructor Documentation

octomap::CountingOcTreeNode::CountingOcTreeNode ( )

implementation of CountingOcTreeNode ----------------------------------

Definition at line 42 of file CountingOcTree.cpp.

octomap::CountingOcTreeNode::~CountingOcTreeNode ( )

Definition at line 47 of file CountingOcTree.cpp.

bool octomap::CountingOcTreeNode::createChild ( unsigned int i )

initialize i-th child, allocate children array if needed

Definition at line 62 of file CountingOcTree.cpp.

void octomap::CountingOcTreeNode::expandNode ( )

Expands a node (reverse of pruning): All children are created and their occupancy probability is set to the node's value.

You need to verify that this is indeed a pruned node (i.e. not a leaf at the lowest level)

Definition at line 51 of file CountingOcTree.cpp.

CountingOcTreeNode* octomap::CountingOcTreeNode::getChild ( unsigned int i ) [inline]

Returns:: a pointer to the i-th child of the node. The child needs to exist.

Definition at line 61 of file CountingOcTree.h.

const CountingOcTreeNode* octomap::CountingOcTreeNode::getChild ( unsigned int i ) const [inline]

Returns:: a const pointer to the i-th child of the node. The child needs to exist.

Definition at line 65 of file CountingOcTree.h.

unsigned int octomap::CountingOcTreeNode::getCount ( ) const [inline]

Definition at line 69 of file CountingOcTree.h.

void octomap::CountingOcTreeNode::increaseCount ( ) [inline]

Definition at line 70 of file CountingOcTree.h.

void octomap::CountingOcTreeNode::setCount ( unsigned c ) [inline]

Definition at line 71 of file CountingOcTree.h.

The documentation for this class was generated from the following files: