simple_example.cpp
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00001 /*
00002  * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
00003  * http://octomap.github.com/
00004  *
00005  * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
00006  * All rights reserved.
00007  * License: New BSD
00008  *
00009  * Redistribution and use in source and binary forms, with or without
00010  * modification, are permitted provided that the following conditions are met:
00011  *
00012  *     * Redistributions of source code must retain the above copyright
00013  *       notice, this list of conditions and the following disclaimer.
00014  *     * Redistributions in binary form must reproduce the above copyright
00015  *       notice, this list of conditions and the following disclaimer in the
00016  *       documentation and/or other materials provided with the distribution.
00017  *     * Neither the name of the University of Freiburg nor the names of its
00018  *       contributors may be used to endorse or promote products derived from
00019  *       this software without specific prior written permission.
00020  *
00021  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00022  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00023  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00024  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00025  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00026  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00027  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00028  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00029  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00030  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00031  * POSSIBILITY OF SUCH DAMAGE.
00032  */
00033 
00034 #include <octomap/octomap.h>
00035 #include <octomap/OcTree.h>
00036 
00037 using namespace std;
00038 using namespace octomap;
00039 
00040 
00041 void print_query_info(point3d query, OcTreeNode* node) {
00042   if (node != NULL) {
00043     cout << "occupancy probability at " << query << ":\t " << node->getOccupancy() << endl;
00044   }
00045   else 
00046     cout << "occupancy probability at " << query << ":\t is unknown" << endl;    
00047 }
00048 
00049 int main(int argc, char** argv) {
00050 
00051   cout << endl;
00052   cout << "generating example map" << endl;
00053 
00054   OcTree tree (0.1);  // create empty tree with resolution 0.1
00055 
00056 
00057   // insert some measurements of occupied cells
00058 
00059   for (int x=-20; x<20; x++) {
00060     for (int y=-20; y<20; y++) {
00061       for (int z=-20; z<20; z++) {
00062         point3d endpoint ((float) x*0.05f, (float) y*0.05f, (float) z*0.05f);
00063         tree.updateNode(endpoint, true); // integrate 'occupied' measurement
00064       }
00065     }
00066   }
00067 
00068   // insert some measurements of free cells
00069 
00070   for (int x=-30; x<30; x++) {
00071     for (int y=-30; y<30; y++) {
00072       for (int z=-30; z<30; z++) {
00073         point3d endpoint ((float) x*0.02f-1.0f, (float) y*0.02f-1.0f, (float) z*0.02f-1.0f);
00074         tree.updateNode(endpoint, false);  // integrate 'free' measurement
00075       }
00076     }
00077   }
00078 
00079   cout << endl;
00080   cout << "performing some queries:" << endl;
00081   
00082   point3d query (0., 0., 0.);
00083   OcTreeNode* result = tree.search (query);
00084   print_query_info(query, result);
00085 
00086   query = point3d(-1.,-1.,-1.);
00087   result = tree.search (query);
00088   print_query_info(query, result);
00089 
00090   query = point3d(1.,1.,1.);
00091   result = tree.search (query);
00092   print_query_info(query, result);
00093 
00094 
00095   cout << endl;
00096   tree.writeBinary("simple_tree.bt");
00097   cout << "wrote example file simple_tree.bt" << endl << endl;
00098   cout << "now you can use octovis to visualize: octovis simple_tree.bt"  << endl;
00099   cout << "Hint: hit 'F'-key in viewer to see the freespace" << endl  << endl;  
00100 
00101 }


octomap
Author(s): Kai M. Wurm , Armin Hornung
autogenerated on Thu Feb 11 2016 23:50:59