Class OcTree

Defined in File octree.h

Inheritance Relationships

Base Type

public coal::CollisionGeometry (Class CollisionGeometry)

Derived Type

public boost::serialization::internal::OcTreeAccessor (Struct OcTreeAccessor)

Class Documentation

class OcTree : public coal::CollisionGeometry 

Octree is one type of collision geometry which can encode uncertainty information in the sensor data.

Subclassed by boost::serialization::internal::OcTreeAccessor

Public Types

typedef octomap::OcTreeNode OcTreeNode

Public Functions

inline explicit OcTree(CoalScalar resolution): construct octree with a given resolution

inline explicit OcTree(const shared_ptr<const octomap::OcTree> &tree_): construct octree from octomap

inline OcTree(const OcTree &other)

Copy constructor

inline virtual OcTree *clone() const: Clone *this into a new Octree.

inline shared_ptr<const octomap::OcTree> getTree() const: Returns the tree associated to the underlying octomap OcTree.

void exportAsObjFile(const std::string &filename) const

inline virtual void computeLocalAABB(): compute the AABB for the octree in its local coordinate system

inline AABB getRootBV() const: get the bounding volume for the root

inline unsigned int getTreeDepth() const: Returns the depth of the octree.

inline unsigned long size() const: Returns the size of the octree.

inline CoalScalar getResolution() const: Returns the resolution of the octree.

inline OcTreeNode *getRoot() const: get the root node of the octree

inline bool isNodeOccupied(const OcTreeNode *node) const: whether one node is completely occupied

inline bool isNodeFree(const OcTreeNode *node) const: whether one node is completely free

inline bool isNodeUncertain(const OcTreeNode *node) const: whether one node is uncertain

inline std::vector<Vec6s> toBoxes() const: transform the octree into a bunch of boxes; uncertainty information is kept in the boxes. However, we only keep the occupied boxes (i.e., the boxes whose occupied probability is higher enough).

inline std::vector<uint8_t> tobytes() const: Returns a byte description of *this.

inline CoalScalar getOccupancyThres() const: the threshold used to decide whether one node is occupied, this is NOT the octree occupied_thresold

inline CoalScalar getFreeThres() const: the threshold used to decide whether one node is free, this is NOT the octree free_threshold

inline CoalScalar getDefaultOccupancy() const

inline void setCellDefaultOccupancy(CoalScalar d)

inline void setOccupancyThres(CoalScalar d)

inline void setFreeThres(CoalScalar d)

inline OcTreeNode *getNodeChild(OcTreeNode *node, unsigned int childIdx)

Returns:: ptr to child number childIdx of node

inline const OcTreeNode *getNodeChild(const OcTreeNode *node, unsigned int childIdx) const

Returns:: const ptr to child number childIdx of node

inline bool nodeChildExists(const OcTreeNode *node, unsigned int childIdx) const: return true if the child at childIdx exists

inline bool nodeHasChildren(const OcTreeNode *node) const: return true if node has at least one child

inline virtual OBJECT_TYPE getObjectType() const: return object type, it is an octree

inline virtual NODE_TYPE getNodeType() const: return node type, it is an octree

Protected Attributes

shared_ptr<const octomap::OcTree> tree

CoalScalar default_occupancy

CoalScalar occupancy_threshold

CoalScalar free_threshold