dynamicEDTOctomap.h

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/*
 * Copyright (c) 2011-2012, C. Sprunk, B. Lau, W. Burgard, University of Freiburg
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *       documentation and/or other materials provided with the distribution.
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 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef DYNAMICEDTOCTOMAP_H_
#define DYNAMICEDTOCTOMAP_H_

#include "dynamicEDT3D.h"
#include <octomap/OcTree.h>

class DynamicEDTOctomap: private DynamicEDT3D {
public:
        DynamicEDTOctomap(float maxdist, octomap::OcTree* _octree, octomap::point3d bbxMin, octomap::point3d bbxMax, bool treatUnknownAsOccupied);

        virtual ~DynamicEDTOctomap();

        virtual void update(bool updateRealDist=true);

        void getDistanceAndClosestObstacle(const octomap::point3d& p, float &distance, octomap::point3d& closestObstacle) const;

        float getDistance(const octomap::point3d& p) const;

        float getDistance(const octomap::OcTreeKey& k) const;

        int getSquaredDistanceInCells(const octomap::point3d& p) const;

        //variant of getDistanceAndClosestObstacle that ommits the check whether p is inside the area of the distance map. Use only if you are certain that p is covered by the distance map and if you need to save the time of the check.
        void getDistanceAndClosestObstacle_unsafe(const octomap::point3d& p, float &distance, octomap::point3d& closestObstacle) const;

        //variant of getDistance that ommits the check whether p is inside the area of the distance map. Use only if you are certain that p is covered by the distance map and if you need to save the time of the check.
        float getDistance_unsafe(const octomap::point3d& p) const;

        //variant of getDistance that ommits the check whether p is inside the area of the distance map. Use only if you are certain that p is covered by the distance map and if you need to save the time of the check.
        float getDistance_unsafe(const octomap::OcTreeKey& k) const;

        //variant of getSquaredDistanceInCells that ommits the check whether p is inside the area of the distance map. Use only if you are certain that p is covered by the distance map and if you need to save the time of the check.
        int getSquaredDistanceInCells_unsafe(const octomap::point3d& p) const;

        float getMaxDist() const {
          return maxDist*octree->getResolution();
        }

        int getSquaredMaxDistCells() const {
          return maxDist_squared;
        }

        bool checkConsistency() const;

        static float distanceValue_Error;
        static int distanceInCellsValue_Error;

private:
        void initializeOcTree(octomap::point3d bbxMin, octomap::point3d bbxMax);
        void insertMaxDepthLeafAtInitialize(octomap::OcTreeKey key);
        void updateMaxDepthLeaf(octomap::OcTreeKey& key, bool occupied);

        void worldToMap(const octomap::point3d &p, int &x, int &y, int &z) const;
        void mapToWorld(int x, int y, int z, octomap::point3d &p) const;
        void mapToWorld(int x, int y, int z, octomap::OcTreeKey &key) const;

        octomap::OcTree* octree;
        bool unknownOccupied;
        int treeDepth;
        double treeResolution;
        octomap::OcTreeKey boundingBoxMinKey;
        octomap::OcTreeKey boundingBoxMaxKey;
        int offsetX, offsetY, offsetZ;
};

#endif /* DYNAMICEDTOCTOMAP_H_ */