Public Member Functions | Private Attributes
rtabmap::OctoMap Class Reference

#include <OctoMap.h>

List of all members.

Public Member Functions

const std::map< int, Transform > & addedNodes () const
void addToCache (int nodeId, pcl::PointCloud< pcl::PointXYZRGB >::Ptr &ground, pcl::PointCloud< pcl::PointXYZRGB >::Ptr &obstacles)
void clear ()
pcl::PointCloud
< pcl::PointXYZRGB >::Ptr 
createCloud (unsigned int treeDepth=0, std::vector< int > *obstacleIndices=0, std::vector< int > *emptyIndices=0) const
cv::Mat createProjectionMap (float &xMin, float &yMin, float &gridCellSize, float minGridSize)
 OctoMap (float voxelSize=0.1f)
const octomap::ColorOcTreeoctree () const
void update (const std::map< int, Transform > &poses)
bool writeBinary (const std::string &path)
virtual ~OctoMap ()

Private Attributes

std::map< int, TransformaddedNodes_
std::map< int, std::pair
< pcl::PointCloud
< pcl::PointXYZRGB >::Ptr,
pcl::PointCloud
< pcl::PointXYZRGB >::Ptr > > 
cache_
octomap::KeyRay keyRay_
std::map
< octomap::ColorOcTreeNode
*, OcTreeNodeInfo
occupiedCells_
octomap::ColorOcTreeoctree_

Detailed Description

Definition at line 58 of file OctoMap.h.


Constructor & Destructor Documentation

rtabmap::OctoMap::OctoMap ( float  voxelSize = 0.1f)

Definition at line 37 of file OctoMap.cpp.

Definition at line 43 of file OctoMap.cpp.


Member Function Documentation

const std::map<int, Transform>& rtabmap::OctoMap::addedNodes ( ) const [inline]

Definition at line 62 of file OctoMap.h.

void rtabmap::OctoMap::addToCache ( int  nodeId,
pcl::PointCloud< pcl::PointXYZRGB >::Ptr &  ground,
pcl::PointCloud< pcl::PointXYZRGB >::Ptr &  obstacles 
)

Definition at line 58 of file OctoMap.cpp.

Definition at line 49 of file OctoMap.cpp.

pcl::PointCloud< pcl::PointXYZRGB >::Ptr rtabmap::OctoMap::createCloud ( unsigned int  treeDepth = 0,
std::vector< int > *  obstacleIndices = 0,
std::vector< int > *  emptyIndices = 0 
) const

Definition at line 352 of file OctoMap.cpp.

cv::Mat rtabmap::OctoMap::createProjectionMap ( float &  xMin,
float &  yMin,
float &  gridCellSize,
float  minGridSize 
)

Definition at line 440 of file OctoMap.cpp.

Definition at line 68 of file OctoMap.h.

void rtabmap::OctoMap::update ( const std::map< int, Transform > &  poses)

Definition at line 66 of file OctoMap.cpp.

bool rtabmap::OctoMap::writeBinary ( const std::string &  path)

Definition at line 506 of file OctoMap.cpp.


Member Data Documentation

std::map<int, Transform> rtabmap::OctoMap::addedNodes_ [private]

Definition at line 90 of file OctoMap.h.

std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> > rtabmap::OctoMap::cache_ [private]

Definition at line 87 of file OctoMap.h.

Definition at line 91 of file OctoMap.h.

Definition at line 89 of file OctoMap.h.

Definition at line 88 of file OctoMap.h.


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


rtabmap
Author(s): Mathieu Labbe
autogenerated on Sat Jul 23 2016 11:44:32